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<div class="title">multiDesc_utils.h</div> </div>
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<a href="multi_desc__utils_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef mrpt_multiDesc_utils_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define mrpt_multiDesc_utils_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_feature_8h.html">mrpt/vision/CFeature.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_image_8h.html">mrpt/utils/CImage.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="base_2include_2mrpt_2math_2utils_8h.html">mrpt/math/utils.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_loadable_options_8h.html">mrpt/utils/CLoadableOptions.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_t_matching_pair_8h.html">mrpt/utils/TMatchingPair.h</a>></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_8h.html">mrpt/poses/CPose3D.h</a>></span>
<a name="l00038"></a>00038 <span class="preprocessor">#include <<a class="code" href="_c_point2_d_8h.html">mrpt/poses/CPoint2D.h</a>></span>
<a name="l00039"></a>00039 <span class="preprocessor">#include <<a class="code" href="_c_point3_d_8h.html">mrpt/poses/CPoint3D.h</a>></span>
<a name="l00040"></a>00040 <span class="preprocessor">#include <<a class="code" href="_c_landmarks_map_8h.html">mrpt/slam/CLandmarksMap.h</a>></span>
<a name="l00041"></a>00041 <span class="preprocessor">#include <<a class="code" href="_c_observation_visual_landmarks_8h.html">mrpt/slam/CObservationVisualLandmarks.h</a>></span>
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="preprocessor">#include <<a class="code" href="vision_2include_2mrpt_2vision_2types_8h.html">mrpt/vision/types.h</a>></span>
<a name="l00044"></a>00044 <span class="preprocessor">#include <<a class="code" href="chessboard__camera__calib_8h.html">mrpt/vision/chessboard_camera_calib.h</a>></span>
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="preprocessor">#include <<a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html">mrpt/vision/link_pragmas.h</a>></span>
<a name="l00047"></a>00047
<a name="l00048"></a>00048 <span class="keyword">namespace </span>mrpt
<a name="l00049"></a>00049 {
<a name="l00050"></a>00050 <span class="keyword">namespace </span>vision
<a name="l00051"></a>00051 {
<a name="l00052"></a>00052 <span class="keyword">using namespace </span>std;
<a name="l00053"></a>00053 <span class="keyword">using namespace </span>mrpt::slam;
<a name="l00054"></a>00054 <span class="keyword">using namespace </span>mrpt::math;
<a name="l00055"></a>00055 <span class="keyword">using namespace </span>mrpt::utils;
<a name="l00056"></a>00056 <span class="comment"></span>
<a name="l00057"></a>00057 <span class="comment"> /** \addtogroup multidesc_desc Multiresolution SIFTs (experimental)</span>
<a name="l00058"></a>00058 <span class="comment"> * \ingroup mrpt_vision_grp</span>
<a name="l00059"></a>00059 <span class="comment"> * @{ */</span>
<a name="l00060"></a>00060
<a name="l00061"></a>00061 <span class="comment">// A 3D quantization table for storing pairs of TFeatureIDs and scales</span>
<a name="l00062"></a><a class="code" href="group__multidesc__desc.html#ga41037b24d1ac7f592da18b441b758bec">00062</a> <span class="keyword">typedef</span> <a class="code" href="classstd_1_1map.html" title="STL class.">map<int,map<int,map<int,deque<pair<TFeatureID, double></a> > > > > <a class="code" href="group__multidesc__desc.html#ga41037b24d1ac7f592da18b441b758bec">TQuantizationTable</a>;
<a name="l00063"></a>00063
<a name="l00064"></a>00064 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__multidesc__desc.html#ga1192dd875ff5377721d4e1e47a818651">saveQTableToFile</a>(
<a name="l00065"></a>00065 <span class="keyword">const</span> <a class="code" href="classstd_1_1map.html" title="STL class.">TQuantizationTable</a> & qTable,
<a name="l00066"></a>00066 <span class="keyword">const</span> <span class="keywordtype">string</span> & filename );
<a name="l00067"></a>00067
<a name="l00068"></a>00068 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__multidesc__desc.html#ga43a6a0148c61c2796ceabf89ed97b420">insertHashCoeffs</a>(
<a name="l00069"></a>00069 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> & feat,
<a name="l00070"></a>00070 <a class="code" href="classstd_1_1map.html" title="STL class.">TQuantizationTable</a> & qTable );
<a name="l00071"></a>00071
<a name="l00072"></a>00072 <a class="code" href="structmrpt_1_1vision_1_1_t_multi_res_matching_output.html" title="Struct containing the output after matching multi-resolution SIFT-like descriptors.">TMultiResMatchingOutput</a> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__multidesc__desc.html#gab519c693125be233d24d2e14c436c05c">relocalizeMultiDesc</a>(
<a name="l00073"></a>00073 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & image,
<a name="l00074"></a>00074 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> & baseList,
<a name="l00075"></a>00075 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> & currentList,
<a name="l00076"></a>00076 <a class="code" href="classstd_1_1map.html" title="STL class.">TQuantizationTable</a> & qTable,
<a name="l00077"></a>00077 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html" title="Struct containing the options when computing the multi-resolution SIFT-like descriptors.">TMultiResDescOptions</a> & desc_opts,
<a name="l00078"></a>00078 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_multi_res_desc_match_options.html" title="Struct containing the options when matching multi-resolution SIFT-like descriptors.">TMultiResDescMatchOptions</a> & match_opts );
<a name="l00079"></a>00079
<a name="l00080"></a>00080 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__multidesc__desc.html#ga7b2922d335bc23255386e17b7bab4de8">updateBaseList</a>(
<a name="l00081"></a>00081 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> & baseList,
<a name="l00082"></a>00082 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> & currentList,
<a name="l00083"></a>00083 <span class="keyword">const</span> <a class="code" href="classstd_1_1vector.html">vector<int></a> & idx );
<a name="l00084"></a>00084
<a name="l00085"></a>00085 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__multidesc__desc.html#ga17d86ac8a6a1497c56e402ae0f44865c">checkScalesAndFindMore</a>(
<a name="l00086"></a>00086 <a class="code" href="classmrpt_1_1vision_1_1_c_matched_feature_list.html" title="A list of features.">CMatchedFeatureList</a> & baseList,
<a name="l00087"></a>00087 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> & currentList,
<a name="l00088"></a>00088 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & currentImage,
<a name="l00089"></a>00089 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_multi_res_matching_output.html" title="Struct containing the output after matching multi-resolution SIFT-like descriptors.">TMultiResMatchingOutput</a> & output,
<a name="l00090"></a>00090 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html" title="Struct containing the options when computing the multi-resolution SIFT-like descriptors.">TMultiResDescOptions</a> & computeOpts,
<a name="l00091"></a>00091 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_multi_res_desc_match_options.html" title="Struct containing the options when matching multi-resolution SIFT-like descriptors.">TMultiResDescMatchOptions</a> & matchOpts );
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment"> /** Computes the gradient of certain pixel within the image.</span>
<a name="l00094"></a>00094 <span class="comment"> * \param image [IN] The input image.</span>
<a name="l00095"></a>00095 <span class="comment"> * \param x [IN] The 'x' coordinate of the image point.</span>
<a name="l00096"></a>00096 <span class="comment"> * \param y [IN] The 'y' coordinate of the image point.</span>
<a name="l00097"></a>00097 <span class="comment"> * \param mag [OUT] The magnitude of the gradient.</span>
<a name="l00098"></a>00098 <span class="comment"> * \param ori [OUT] The orientation of the gradient.</span>
<a name="l00099"></a>00099 <span class="comment"> * \return True if the gradient could be computed and False if the pixel is located outside the image or at its border (where the gradient cannot be computed)</span>
<a name="l00100"></a>00100 <span class="comment"> */</span>
<a name="l00101"></a>00101 <span class="keywordtype">bool</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__multidesc__desc.html#ga95a6e927520f9a71ede6e866de72ec97" title="Computes the gradient of certain pixel within the image.">computeGradient</a>(
<a name="l00102"></a>00102 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & image,
<a name="l00103"></a>00103 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> x,
<a name="l00104"></a>00104 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>,
<a name="l00105"></a>00105 <span class="keywordtype">double</span> & mag,
<a name="l00106"></a>00106 <span class="keywordtype">double</span> & ori );
<a name="l00107"></a>00107 <span class="comment"></span>
<a name="l00108"></a>00108 <span class="comment"> /** Computes the main orientations (within 80% of the peak value of orientation histogram) of a certain point within an image (for using in SIFT-based algorithms)</span>
<a name="l00109"></a>00109 <span class="comment"> * \param image [IN] The input image.</span>
<a name="l00110"></a>00110 <span class="comment"> * \param x [IN] The 'x' coordinate of the image point.</span>
<a name="l00111"></a>00111 <span class="comment"> * \param y [IN] The 'y' coordinate of the image point.</span>
<a name="l00112"></a>00112 <span class="comment"> * \param patchSize [IN] The size of the patch to be considered for computing the orientation histogram.</span>
<a name="l00113"></a>00113 <span class="comment"> * \param orientations [OUT] A vector containing the main orientations of the image point.</span>
<a name="l00114"></a>00114 <span class="comment"> * \param sigma [IN] The sigma value of the Gaussian kernel used to smooth the orientation histogram (typically 7.5 px).</span>
<a name="l00115"></a>00115 <span class="comment"> */</span>
<a name="l00116"></a>00116 <span class="keywordtype">bool</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__multidesc__desc.html#ga5138d7cd167f43089bc8cf87c37a6704" title="Computes the main orientations (within 80% of the peak value of orientation histogram) of a certain p...">computeMainOrientations</a>(
<a name="l00117"></a>00117 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & image,
<a name="l00118"></a>00118 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> x,
<a name="l00119"></a>00119 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>,
<a name="l00120"></a>00120 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> patchSize,
<a name="l00121"></a>00121 <a class="code" href="classstd_1_1vector.html">std::vector<double></a> & orientations,
<a name="l00122"></a>00122 <span class="keyword">const</span> <span class="keywordtype">double</span> & sigma );
<a name="l00123"></a>00123 <span class="comment"></span>
<a name="l00124"></a>00124 <span class="comment"> /** Inserts the orientation value of a certain pixel within the keypoint neighbourhood into the histogram of orientations. This value can</span>
<a name="l00125"></a>00125 <span class="comment"> * affect to more than one entry within the histogram.</span>
<a name="l00126"></a>00126 <span class="comment"> * \param hist [IN/OUT] The histogram of orientations.</span>
<a name="l00127"></a>00127 <span class="comment"> * \param cbin [IN] The entry rotated column bin.</span>
<a name="l00128"></a>00128 <span class="comment"> * \param rbin [IN] The entry rotated row bin.</span>
<a name="l00129"></a>00129 <span class="comment"> * \param obin [IN] The entry rotated orientation bin.</span>
<a name="l00130"></a>00130 <span class="comment"> * \param mag [IN] The gradient magnitude value in the pixel.</span>
<a name="l00131"></a>00131 <span class="comment"> * \param d [IN] The number of row (and column) bins used in the histogram (typically 4).</span>
<a name="l00132"></a>00132 <span class="comment"> * \param n [IN] The number of orienation bins used in the histogram (typically 8).</span>
<a name="l00133"></a>00133 <span class="comment"> */</span>
<a name="l00134"></a>00134 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__multidesc__desc.html#gad6ff934e65fba3238dd95d9a6b7d849c" title="Inserts the orientation value of a certain pixel within the keypoint neighbourhood into the histogram...">interpolateHistEntry</a>(
<a name="l00135"></a>00135 <a class="code" href="classstd_1_1vector.html">vector<double></a> & hist,
<a name="l00136"></a>00136 <span class="keyword">const</span> <span class="keywordtype">double</span> & cbin,
<a name="l00137"></a>00137 <span class="keyword">const</span> <span class="keywordtype">double</span> & rbin,
<a name="l00138"></a>00138 <span class="keyword">const</span> <span class="keywordtype">double</span> & obin,
<a name="l00139"></a>00139 <span class="keyword">const</span> <span class="keywordtype">double</span> & mag,
<a name="l00140"></a>00140 <span class="keyword">const</span> <span class="keywordtype">int</span> d,
<a name="l00141"></a>00141 <span class="keyword">const</span> <span class="keywordtype">int</span> n );
<a name="l00142"></a>00142 <span class="comment"></span>
<a name="l00143"></a>00143 <span class="comment"> /** Computes the SIFT-like descriptor of a certain point within an image at the base scale, i.e. its rotated orientation histogram.</span>
<a name="l00144"></a>00144 <span class="comment"> * \param image [IN] The input image.</span>
<a name="l00145"></a>00145 <span class="comment"> * \param x [IN] The 'x' coordinate of the image point.</span>
<a name="l00146"></a>00146 <span class="comment"> * \param y [IN] The 'y' coordinate of the image point.</span>
<a name="l00147"></a>00147 <span class="comment"> * \param patchSize [IN] The size of the patch to be considered for computing the orientation histogram.</span>
<a name="l00148"></a>00148 <span class="comment"> * \param orientation [IN] The orientation considered for this point (used to rotate the patch).</span>
<a name="l00149"></a>00149 <span class="comment"> * \param orientation [OUT] The computed SIFT-like descriptor.</span>
<a name="l00150"></a>00150 <span class="comment"> * \param opts [IN] The options for computing the SIFT-like descriptor.</span>
<a name="l00151"></a>00151 <span class="comment"> * \param hashCoeffs [OUT] A vector containing the computed coefficients for the HASH table used in relocalization.</span>
<a name="l00152"></a>00152 <span class="comment"> * \sa TMultiResDescOptions</span>
<a name="l00153"></a>00153 <span class="comment"> */</span>
<a name="l00154"></a>00154 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__multidesc__desc.html#ga189b8b1dd1a693d55d1f9618440ac0b0" title="Computes the SIFT-like descriptor of a certain point within an image at the base scale, i.e.">computeHistogramOfOrientations</a>(
<a name="l00155"></a>00155 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & image,
<a name="l00156"></a>00156 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> x,
<a name="l00157"></a>00157 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>,
<a name="l00158"></a>00158 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> patchSize,
<a name="l00159"></a>00159 <span class="keyword">const</span> <span class="keywordtype">double</span> & orientation,
<a name="l00160"></a>00160 <a class="code" href="classstd_1_1vector.html">vector<int32_t></a> & descriptor,
<a name="l00161"></a>00161 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html" title="Struct containing the options when computing the multi-resolution SIFT-like descriptors.">TMultiResDescOptions</a> & opts,
<a name="l00162"></a>00162 <a class="code" href="classstd_1_1vector.html">vector<int32_t></a> & hashCoeffs );
<a name="l00163"></a>00163 <span class="comment"></span>
<a name="l00164"></a>00164 <span class="comment"> /** Matches two CFeatureList containing mulit-resolution descriptors. The first list is taken as a base, i.e. its features must contain multi-resolution descriptors</span>
<a name="l00165"></a>00165 <span class="comment"> * at a set of different scales. The second list doesn't need to contain such information because it will be computed if necessary according to the</span>
<a name="l00166"></a>00166 <span class="comment"> * the fulfillment of some restriction regarding the matching process. This function will try to find the best matches within list2 corresponding to the features</span>
<a name="l00167"></a>00167 <span class="comment"> * within base list list1.</span>
<a name="l00168"></a>00168 <span class="comment"> * \param list1 [IN] The base list of features.</span>
<a name="l00169"></a>00169 <span class="comment"> * \param list2 [IN/OUT] The other list of features.</span>
<a name="l00170"></a>00170 <span class="comment"> * \param rightImage [IN] The image from where the list2 was extracted. It's used to compute the descriptor of these features if necessary.</span>
<a name="l00171"></a>00171 <span class="comment"> * \param output [OUT] The output structure with the matching information.</span>
<a name="l00172"></a>00172 <span class="comment"> * \param matchOpts [IN] The options structure for the matching process.</span>
<a name="l00173"></a>00173 <span class="comment"> * \param computeOpts [IN] The options structure for the descriptor computation process.</span>
<a name="l00174"></a>00174 <span class="comment"> * \return A structure containing the results of the matching.</span>
<a name="l00175"></a>00175 <span class="comment"> * \sa TMultiResDescMatchOptions, TMultiResDescOptions, TMultiResMatchingOutput</span>
<a name="l00176"></a>00176 <span class="comment"> */</span>
<a name="l00177"></a>00177 <a class="code" href="structmrpt_1_1vision_1_1_t_multi_res_matching_output.html" title="Struct containing the output after matching multi-resolution SIFT-like descriptors.">TMultiResMatchingOutput</a> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__multidesc__desc.html#ga4c87a8b7a04a618213e904d41c901d78" title="Matches two CFeatureList containing mulit-resolution descriptors.">matchMultiResolutionFeatures</a>(
<a name="l00178"></a>00178 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> & list1,
<a name="l00179"></a>00179 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> & list2,
<a name="l00180"></a>00180 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & rightImage,
<a name="l00181"></a>00181 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_multi_res_desc_match_options.html" title="Struct containing the options when matching multi-resolution SIFT-like descriptors.">TMultiResDescMatchOptions</a> & matchOpts,
<a name="l00182"></a>00182 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html" title="Struct containing the options when computing the multi-resolution SIFT-like descriptors.">TMultiResDescOptions</a> & computeOpts );
<a name="l00183"></a>00183 <span class="comment"></span>
<a name="l00184"></a>00184 <span class="comment"> /** Matches two CMatchedFeatureList containing mulit-resolution descriptors. This is performed for both the "left" and "right" lists</span>
<a name="l00185"></a>00185 <span class="comment"> * The first matched list is taken as a base, i.e. its features must contain multi-resolution descriptors</span>
<a name="l00186"></a>00186 <span class="comment"> * at a set of different scales. The second list doesn't need to contain such information because it will be computed if necessary according to the</span>
<a name="l00187"></a>00187 <span class="comment"> * the fulfillment of some restriction regarding the matching process. This function will try to find the best matches within list2 corresponding to the features</span>
<a name="l00188"></a>00188 <span class="comment"> * \param mList1 [IN] The base list.</span>
<a name="l00189"></a>00189 <span class="comment"> * \param mList2 [IN] The other list of features.</span>
<a name="l00190"></a>00190 <span class="comment"> * \param leftImage [IN] The image from where the list2 was extracted. It's used to compute the descriptor of these features if necessary.</span>
<a name="l00191"></a>00191 <span class="comment"> * \param rightImage [IN] The image from where the list2 was extracted. It's used to compute the descriptor of these features if necessary.</span>
<a name="l00192"></a>00192 <span class="comment"> * \param matchOpts [IN] The options structure for the matching process.</span>
<a name="l00193"></a>00193 <span class="comment"> * \param computeOpts [IN] The options structure for the descriptor computation process.</span>
<a name="l00194"></a>00194 <span class="comment"> * \return The number of matches found</span>
<a name="l00195"></a>00195 <span class="comment"> * \sa TMultiResDescMatchOptions</span>
<a name="l00196"></a>00196 <span class="comment"> */</span>
<a name="l00197"></a>00197 <span class="keywordtype">int</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__multidesc__desc.html#ga4c87a8b7a04a618213e904d41c901d78" title="Matches two CFeatureList containing mulit-resolution descriptors.">matchMultiResolutionFeatures</a>(
<a name="l00198"></a>00198 <a class="code" href="classmrpt_1_1vision_1_1_c_matched_feature_list.html" title="A list of features.">CMatchedFeatureList</a> & mList1,
<a name="l00199"></a>00199 <a class="code" href="classmrpt_1_1vision_1_1_c_matched_feature_list.html" title="A list of features.">CMatchedFeatureList</a> & mList2,
<a name="l00200"></a>00200 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & leftImage,
<a name="l00201"></a>00201 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & rightImage,
<a name="l00202"></a>00202 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_multi_res_desc_match_options.html" title="Struct containing the options when matching multi-resolution SIFT-like descriptors.">TMultiResDescMatchOptions</a> & matchOpts,
<a name="l00203"></a>00203 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html" title="Struct containing the options when computing the multi-resolution SIFT-like descriptors.">TMultiResDescOptions</a> & computeOpts );
<a name="l00204"></a>00204 <span class="comment"></span>
<a name="l00205"></a>00205 <span class="comment"> /** Computes more multi-resolution SIFT-like descriptors for a feature using its position in a new image. This</span>
<a name="l00206"></a>00206 <span class="comment"> * is called when we have found a match between a feature and itself in a new frame but it has been found in</span>
<a name="l00207"></a>00207 <span class="comment"> * a boundary scale. We now expand the range of scales, orientations and descriptors for that feature.</span>
<a name="l00208"></a>00208 <span class="comment"> * \param image [IN] The new frame.</span>
<a name="l00209"></a>00209 <span class="comment"> * \param inputFeat [IN] The feature in the new frame.</span>
<a name="l00210"></a>00210 <span class="comment"> * \param outputFeat [OUT] The base feature (detected in the base frame).</span>
<a name="l00211"></a>00211 <span class="comment"> * \param lowerScales [IN] If we should find descriptors for lower scales or for higher ones.</span>
<a name="l00212"></a>00212 <span class="comment"> * \param opts [IN] The options for computing the new descriptors.</span>
<a name="l00213"></a>00213 <span class="comment"> */</span>
<a name="l00214"></a>00214 <span class="keywordtype">int</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__multidesc__desc.html#gaaea42c5f805a29536003a5211fa82683" title="Computes more multi-resolution SIFT-like descriptors for a feature using its position in a new image...">computeMoreDescriptors</a>(
<a name="l00215"></a>00215 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & image,
<a name="l00216"></a>00216 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> & inputFeat,
<a name="l00217"></a>00217 <a class="code" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> & outputFeat,
<a name="l00218"></a>00218 <span class="keyword">const</span> <span class="keywordtype">bool</span> & lowerScales,
<a name="l00219"></a>00219 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html" title="Struct containing the options when computing the multi-resolution SIFT-like descriptors.">TMultiResDescOptions</a> & opts );
<a name="l00220"></a>00220 <span class="comment"></span>
<a name="l00221"></a>00221 <span class="comment"> /** Computes the initial and final scales where to look when finding a match between multi-resolution features.</span>
<a name="l00222"></a>00222 <span class="comment"> * Both features must have their "depth" member properly computed.</span>
<a name="l00223"></a>00223 <span class="comment"> * \param feat1 [IN] The base feature which MUST contain a set of different scales.</span>
<a name="l00224"></a>00224 <span class="comment"> * \param feat2 [IN] The other feature which must be computed at base scale (1.0).</span>
<a name="l00225"></a>00225 <span class="comment"> * \param firstScale [OUT] The initial scale (within [0 feat1->multiScale.size()-1]) where to look.</span>
<a name="l00226"></a>00226 <span class="comment"> * \param firstScale [OUT] The final scale (within [0 feat1->multiScale.size()-1]) where to look.</span>
<a name="l00227"></a>00227 <span class="comment"> */</span>
<a name="l00228"></a>00228 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__multidesc__desc.html#gaae2d9ac74878f370cd26a17cf4a14725" title="Computes the initial and final scales where to look when finding a match between multi-resolution fea...">setProperScales</a>(
<a name="l00229"></a>00229 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> & feat1,
<a name="l00230"></a>00230 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> & feat2,
<a name="l00231"></a>00231 <span class="keywordtype">int</span> & firstScale,
<a name="l00232"></a>00232 <span class="keywordtype">int</span> & lastScale );
<a name="l00233"></a>00233 <span class="comment"></span>
<a name="l00234"></a>00234 <span class="comment"> /** Computes the multi-resolution SIFT-like descriptor of a set of matched features</span>
<a name="l00235"></a>00235 <span class="comment"> * \param imageLeft [IN] The input left image.</span>
<a name="l00236"></a>00236 <span class="comment"> * \param imageRight [IN] The input right image.</span>
<a name="l00237"></a>00237 <span class="comment"> * \param matchedFeats [IN/OUT] The list of matched features. They will be updated with the multi-scales, multi-orientations, multi-descriptors and depth information.</span>
<a name="l00238"></a>00238 <span class="comment"> * \param opts [IN] The options structure for the descriptor computation process.</span>
<a name="l00239"></a>00239 <span class="comment"> * \sa TMultiResDescOptions</span>
<a name="l00240"></a>00240 <span class="comment"> */</span>
<a name="l00241"></a>00241 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__multidesc__desc.html#ga51bfd8c21f7419e09d4dfd48f809eef5" title="Computes the multi-resolution SIFT-like descriptor of a set of matched features.">computeMultiResolutionDescriptors</a>(
<a name="l00242"></a>00242 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & imageLeft,
<a name="l00243"></a>00243 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & imageRight,
<a name="l00244"></a>00244 <a class="code" href="classmrpt_1_1vision_1_1_c_matched_feature_list.html" title="A list of features.">CMatchedFeatureList</a> & matchedFeats,
<a name="l00245"></a>00245 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html" title="Struct containing the options when computing the multi-resolution SIFT-like descriptors.">TMultiResDescOptions</a> & opts );
<a name="l00246"></a>00246
<a name="l00247"></a>00247 <span class="comment"></span>
<a name="l00248"></a>00248 <span class="comment"> /** Computes the multi-resolution SIFT-like descriptor of a features</span>
<a name="l00249"></a>00249 <span class="comment"> * \param image [IN] The input left image.</span>
<a name="l00250"></a>00250 <span class="comment"> * \param feat [IN/OUT] The feature. It will be updated with the multi-scales, multi-orientations, multi-descriptors</span>
<a name="l00251"></a>00251 <span class="comment"> * \param opts [IN] The options structure for the descriptor computation process.</span>
<a name="l00252"></a>00252 <span class="comment"> * \sa TMultiResDescOptions</span>
<a name="l00253"></a>00253 <span class="comment"> */</span>
<a name="l00254"></a>00254 <span class="keywordtype">bool</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__multidesc__desc.html#ga51bfd8c21f7419e09d4dfd48f809eef5" title="Computes the multi-resolution SIFT-like descriptor of a set of matched features.">computeMultiResolutionDescriptors</a>(
<a name="l00255"></a>00255 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & image,
<a name="l00256"></a>00256 <a class="code" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> & feat,
<a name="l00257"></a>00257 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html" title="Struct containing the options when computing the multi-resolution SIFT-like descriptors.">TMultiResDescOptions</a> & opts );
<a name="l00258"></a>00258 <span class="comment"></span>
<a name="l00259"></a>00259 <span class="comment"> /** Computes the multi-resolution SIFT-like descriptor of a list of features</span>
<a name="l00260"></a>00260 <span class="comment"> * \param image [IN] The input image.</span>
<a name="l00261"></a>00261 <span class="comment"> * \param list [IN/OUT] The list of features. They will be updated with the multi-scales, multi-orientations and multi-descriptors information.</span>
<a name="l00262"></a>00262 <span class="comment"> * \param opts [IN] The options structure for the descriptor computation process.</span>
<a name="l00263"></a>00263 <span class="comment"> * \sa TMultiResDescOptions</span>
<a name="l00264"></a>00264 <span class="comment"> */</span>
<a name="l00265"></a>00265 <a class="code" href="classstd_1_1vector.html">vector<bool></a> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__multidesc__desc.html#ga51bfd8c21f7419e09d4dfd48f809eef5" title="Computes the multi-resolution SIFT-like descriptor of a set of matched features.">computeMultiResolutionDescriptors</a>(
<a name="l00266"></a>00266 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & image,
<a name="l00267"></a>00267 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> & <a class="code" href="classstd_1_1list.html" title="STL class.">list</a>,
<a name="l00268"></a>00268 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html" title="Struct containing the options when computing the multi-resolution SIFT-like descriptors.">TMultiResDescOptions</a> & opts );
<a name="l00269"></a>00269 <span class="comment"></span>
<a name="l00270"></a>00270 <span class="comment"> /** Computes the multi-resolution SIFT-like descriptor of a list of features</span>
<a name="l00271"></a>00271 <span class="comment"> * \param image [IN] The input image.</span>
<a name="l00272"></a>00272 <span class="comment"> * \param list [IN/OUT] The list of features. They will be updated with the multi-scales, multi-orientations and multi-descriptors information.</span>
<a name="l00273"></a>00273 <span class="comment"> * \param opts [IN] The options structure for the descriptor computation process.</span>
<a name="l00274"></a>00274 <span class="comment"> * \sa TMultiResDescOptions</span>
<a name="l00275"></a>00275 <span class="comment"> */</span>
<a name="l00276"></a>00276 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__multidesc__desc.html#ga3b64ea008fd90d187da7737a277407a9" title="Computes the multi-resolution SIFT-like descriptor of a list of features.">computeMultiOrientations</a>(
<a name="l00277"></a>00277 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & image,
<a name="l00278"></a>00278 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> & <a class="code" href="classstd_1_1list.html" title="STL class.">list</a>,
<a name="l00279"></a>00279 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html" title="Struct containing the options when computing the multi-resolution SIFT-like descriptors.">TMultiResDescOptions</a> & opts );
<a name="l00280"></a>00280
<a name="l00281"></a>00281 <span class="comment"></span>
<a name="l00282"></a>00282 <span class="comment"> /** @} */</span> <span class="comment">// end of grouping</span>
<a name="l00283"></a>00283
<a name="l00284"></a>00284 }
<a name="l00285"></a>00285 } <span class="comment">// end-namespace-mrpt</span>
<a name="l00286"></a>00286
<a name="l00287"></a>00287 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
