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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
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<div class="title">mrpt::vision Namespace Reference<div class="ingroups"><a class="el" href="group__mrpt__vision__grp.html">[mrpt-vision]</a></div></div> </div>
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<hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>Classes for computer vision, detectors, features, etc. </p>
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Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1vision_1_1pinhole.html">pinhole</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>Functions related to pinhole camera models, point projections, etc. </p>
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<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_cam_model.html">CCamModel</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">This class represent a pinhole camera model for Monocular SLAM and implements some associated Jacobians. <a href="classmrpt_1_1vision_1_1_c_cam_model.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html">CFeature</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A generic 2D feature from an image, extracted with <em><a class="el" href="classmrpt_1_1vision_1_1_c_feature_extraction.html" title="The central class from which images can be analyzed in search of different kinds of interest points a...">CFeatureExtraction</a></em> Each feature may have one or more descriptors (see <em>descriptors</em>), in addition to an image patch. <a href="classmrpt_1_1vision_1_1_c_feature.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of visual features, to be used as output by detectors, as input/output by trackers, etc. <a href="classmrpt_1_1vision_1_1_c_feature_list.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_matched_feature_list.html">CMatchedFeatureList</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of features. <a href="classmrpt_1_1vision_1_1_c_matched_feature_list.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature_extraction.html">CFeatureExtraction</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The central class from which images can be analyzed in search of different kinds of interest points and descriptors computed for them. <a href="classmrpt_1_1vision_1_1_c_feature_extraction.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_image_calib_data.html">TImageCalibData</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Data associated to each image in the calibration process <a class="el" href="group__chessboard__calib.html#ga1da75caa6896523de9ecce29f5abe391" title="Performs a camera calibration (computation of projection and distortion parameters) from a sequence o...">mrpt::vision::checkerBoardCameraCalibration</a> (All the information can be left empty and will be filled up in the calibration method). <a href="structmrpt_1_1vision_1_1_t_image_calib_data.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_image_pyramid.html">CImagePyramid</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Holds and builds a pyramid of images: starting with an image at full resolution (octave=1), it builds a number of half-resolution images: octave=2 at 1/2 , octave=3 at 1/2^2, octave=N at 1/2^(N-1). <a href="classmrpt_1_1vision_1_1_c_image_pyramid.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_undistort_map.html">CUndistortMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Use this class to undistort images if the same distortion map is used over and over again. <a href="classmrpt_1_1vision_1_1_c_undistort_map.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_video_file_writer.html">CVideoFileWriter</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An output stream which takes a sequence of images and writes a video file in any of a given of compatible formats. <a href="classmrpt_1_1vision_1_1_c_video_file_writer.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_c_generic_feature_tracker.html">CGenericFeatureTracker</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A virtual interface for all feature trackers, implementing the part of feature tracking that is common to any specific tracker implementation. <a href="structmrpt_1_1vision_1_1_c_generic_feature_tracker.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_c_feature_tracker___k_l.html">CFeatureTracker_KL</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Track a set of features from old_img -> new_img using sparse optimal flow (classic KL method). <a href="structmrpt_1_1vision_1_1_c_feature_tracker___k_l.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_c_feature_tracker___f_a_s_t.html">CFeatureTracker_FAST</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Track a set of features from old_img -> new_img by patch correlation over the closest FAST features, using a KD-tree for looking closest correspondences. <a href="structmrpt_1_1vision_1_1_c_feature_tracker___f_a_s_t.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_c_feature_tracker___patch_match.html">CFeatureTracker_PatchMatch</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Track a set of features from old_img -> new_img by patch matching over a fixed window centered at each feature's previous location. <a href="structmrpt_1_1vision_1_1_c_feature_tracker___patch_match.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_simple_feature__templ.html">TSimpleFeature_templ</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A simple structure for representing one image feature (without descriptor nor patch) - This is the template which allows you to select if pixels are represented as integers or floats. <a href="structmrpt_1_1vision_1_1_t_simple_feature__templ.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_simple_feature_traits_3_01_t_simple_feature_01_4.html">TSimpleFeatureTraits< TSimpleFeature ></a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_simple_feature_traits_3_01_t_simple_featuref_01_4.html">TSimpleFeatureTraits< TSimpleFeaturef ></a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_simple_feature_list__templ.html">TSimpleFeatureList_templ</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of image features using the structure TSimpleFeature for each feature - capable of KD-tree computations Users normally use directly the typedef's: TSimpleFeatureList & TSimpleFeaturefList. <a href="structmrpt_1_1vision_1_1_t_simple_feature_list__templ.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_keypoint_response_sorter.html">KeypointResponseSorter</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A helper struct to sort keypoints by their response: It can be used with these types: <a href="structmrpt_1_1vision_1_1_keypoint_response_sorter.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class  </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature_list_k_d_tree.html">CFeatureListKDTree</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Helper class: KD-tree search class for vector<KeyPoint>: Call <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list_k_d_tree.html#a7af8b1c8c455e55055209a49b189398b">mark_as_outdated()</a> to force rebuilding the kd-tree after modifying the linked feature list. <a href="classmrpt_1_1vision_1_1_c_feature_list_k_d_tree.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_feature_observation.html">TFeatureObservation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">One feature observation entry, used within sequences with <a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html" title="A complete sequence of observations of features from different camera frames (poses).">TSequenceFeatureObservations</a>. <a href="structmrpt_1_1vision_1_1_t_feature_observation.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_relative_feature_pos.html">TRelativeFeaturePos</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">One relative feature observation entry, used with some relative bundle-adjustment functions. <a href="structmrpt_1_1vision_1_1_t_relative_feature_pos.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html">TSequenceFeatureObservations</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A complete sequence of observations of features from different camera frames (poses). <a href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html">TStereoSystemParams</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Parameters associated to a stereo system. <a href="structmrpt_1_1vision_1_1_t_stereo_system_params.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_r_o_i.html">TROI</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A structure for storing a 3D ROI. <a href="structmrpt_1_1vision_1_1_t_r_o_i.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_image_r_o_i.html">TImageROI</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A structure for defining a ROI within an image. <a href="structmrpt_1_1vision_1_1_t_image_r_o_i.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_matching_options.html">TMatchingOptions</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A structure containing options for the matching. <a href="structmrpt_1_1vision_1_1_t_matching_options.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_matching_output.html">TMultiResMatchingOutput</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Struct containing the output after matching multi-resolution SIFT-like descriptors. <a href="structmrpt_1_1vision_1_1_t_multi_res_matching_output.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_match_options.html">TMultiResDescMatchOptions</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Struct containing the options when matching multi-resolution SIFT-like descriptors. <a href="structmrpt_1_1vision_1_1_t_multi_res_desc_match_options.html#details">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html">TMultiResDescOptions</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Struct containing the options when computing the multi-resolution SIFT-like descriptors. <a href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="typedef-members"></a>
Typedefs</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1map.html">std::map</a>< <a class="el" href="classstd_1_1string.html">std::string</a>, <br class="typebreak"/>
<a class="el" href="structmrpt_1_1vision_1_1_t_image_calib_data.html">TImageCalibData</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="group__chessboard__calib.html#ga73701bb299aae17c11656efb6c46625d">TCalibrationImageList</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of images, used in checkerBoardCameraCalibration. <a href="group__chessboard__calib.html#ga73701bb299aae17c11656efb6c46625d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1map.html">map</a>< int, <a class="el" href="classstd_1_1map.html">map</a>< int, <br class="typebreak"/>
<a class="el" href="classstd_1_1map.html">map</a>< int, <a class="el" href="classstd_1_1deque.html">deque</a>< pair<br class="typebreak"/>
< <a class="el" href="group__mrpt__vision__grp.html#ga5bfc93fce347933b63640f2de874ba26">TFeatureID</a>, double > > > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#ga41037b24d1ac7f592da18b441b758bec">TQuantizationTable</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1auto__ptr.html">std::auto_ptr</a><br class="typebreak"/>
< <a class="el" href="structmrpt_1_1vision_1_1_c_generic_feature_tracker.html">CGenericFeatureTracker</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="group__vision__tracking.html#ga999b0935b3d00169b4c7b64c9a363ea6">CGenericFeatureTrackerAutoPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1vision_1_1_t_simple_feature__templ.html">TSimpleFeature_templ</a><br class="typebreak"/>
< <a class="el" href="structmrpt_1_1utils_1_1_t_pixel_coord.html">mrpt::utils::TPixelCoord</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrptvision__features.html#ga72f50e326eac6ef6efa51b6c26d8c2e6">TSimpleFeature</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A simple structure for representing one image feature (without descriptor nor patch). <a href="group__mrptvision__features.html#ga72f50e326eac6ef6efa51b6c26d8c2e6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1vision_1_1_t_simple_feature__templ.html">TSimpleFeature_templ</a><br class="typebreak"/>
< <a class="el" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html">mrpt::utils::TPixelCoordf</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrptvision__features.html#gabea9e05e2e7d0997e84d128d4db5ad14">TSimpleFeaturef</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A version of TSimpleFeature with subpixel precision. <a href="group__mrptvision__features.html#gabea9e05e2e7d0997e84d128d4db5ad14"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
<a class="el" href="structmrpt_1_1vision_1_1_t_simple_feature_list__templ.html">TSimpleFeatureList_templ</a><br class="typebreak"/>
< <a class="el" href="group__mrptvision__features.html#ga72f50e326eac6ef6efa51b6c26d8c2e6">TSimpleFeature</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrptvision__features.html#ga1a3cacefe1829fabd578ba8cc6fe6638">TSimpleFeatureList</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of image features using the structure TSimpleFeature for each feature - capable of KD-tree computations. <a href="group__mrptvision__features.html#ga1a3cacefe1829fabd578ba8cc6fe6638"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
<a class="el" href="structmrpt_1_1vision_1_1_t_simple_feature_list__templ.html">TSimpleFeatureList_templ</a><br class="typebreak"/>
< <a class="el" href="group__mrptvision__features.html#gabea9e05e2e7d0997e84d128d4db5ad14">TSimpleFeaturef</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrptvision__features.html#ga084ff91c2b6d61b13959eb8e34548b56">TSimpleFeaturefList</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of image features using the structure TSimpleFeaturef for each feature - capable of KD-tree computations. <a href="group__mrptvision__features.html#ga084ff91c2b6d61b13959eb8e34548b56"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef uint64_t </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga5bfc93fce347933b63640f2de874ba26">TFeatureID</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Definition of a feature ID. <a href="group__mrpt__vision__grp.html#ga5bfc93fce347933b63640f2de874ba26"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef uint64_t </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga6c3892de843a8cf3bb52017d2933020f">TLandmarkID</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Unique IDs for landmarks. <a href="group__mrpt__vision__grp.html#ga6c3892de843a8cf3bb52017d2933020f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef uint64_t </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gae9363bed7e308d38b23c0bcac8b5e5d8">TCameraPoseID</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Unique IDs for camera frames (poses) <a href="group__mrpt__vision__grp.html#gae9363bed7e308d38b23c0bcac8b5e5d8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
<a class="el" href="structmrpt_1_1aligned__containers.html">mrpt::aligned_containers</a><br class="typebreak"/>
< <a class="el" href="group__mrpt__vision__grp.html#gae9363bed7e308d38b23c0bcac8b5e5d8">TCameraPoseID</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> ><br class="typebreak"/>
::map_t </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga62b8ac1f5f748ac325c921ee16b28ff7">TFramePosesMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of camera frames (6D poses) indexed by unique IDs. <a href="group__mrpt__vision__grp.html#ga62b8ac1f5f748ac325c921ee16b28ff7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
<a class="el" href="structmrpt_1_1aligned__containers.html">mrpt::aligned_containers</a><br class="typebreak"/>
< <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> >::vector_t </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gabe5f1a7756ced9db83e245414fd54def">TFramePosesVec</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of camera frames (6D poses), which assumes indexes are unique, consecutive IDs. <a href="group__mrpt__vision__grp.html#gabe5f1a7756ced9db83e245414fd54def"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1map.html">std::map</a>< <a class="el" href="group__mrpt__vision__grp.html#ga6c3892de843a8cf3bb52017d2933020f">TLandmarkID</a>, <br class="typebreak"/>
<a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gaef17b094c368f8a0ea926e8af3183feb">TLandmarkLocationsMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of landmarks (3D points) indexed by unique IDs. <a href="group__mrpt__vision__grp.html#gaef17b094c368f8a0ea926e8af3183feb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gaa8fa8b53643b4e650a959867691e3adc">TLandmarkLocationsVec</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of landmarks (3D points), which assumes indexes are unique, consecutive IDs. <a href="group__mrpt__vision__grp.html#gaa8fa8b53643b4e650a959867691e3adc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="group__mrpt__vision__grp.html#ga0437f34e59ac06cddc3a490e2605bb71">TFeatureTrackStatus</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga9ba0cae6d18573372451f923bb21fa55">TKLTFeatureStatus</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For backward compatibility. <a href="group__mrpt__vision__grp.html#ga9ba0cae6d18573372451f923bb21fa55"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1map.html">std::map</a><br class="typebreak"/>
< <a class="el" href="group__mrpt__vision__grp.html#ga5bfc93fce347933b63640f2de874ba26">mrpt::vision::TFeatureID</a>, <br class="typebreak"/>
<a class="el" href="structmrpt_1_1vision_1_1_t_relative_feature_pos.html">TRelativeFeaturePos</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gac7efcc456498739aa62ed14e8173892a">TRelativeFeaturePosMap</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">An index of feature IDs and their relative locations. <a href="group__mrpt__vision__grp.html#gac7efcc456498739aa62ed14e8173892a"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="enum-members"></a>
Enumerations</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1vision.html#a134cb9579c5bea92ba1cb60857b9cd88">TListIdx</a> { <a class="el" href="namespacemrpt_1_1vision.html#a134cb9579c5bea92ba1cb60857b9cd88a74f7dc03bf5edb3db74e4fccbb7ce091">firstList</a> = 0,
<a class="el" href="namespacemrpt_1_1vision.html#a134cb9579c5bea92ba1cb60857b9cd88a9646f2ebe6beefc0aa5e699908f1c7e6">secondList</a>,
<a class="el" href="namespacemrpt_1_1vision.html#a134cb9579c5bea92ba1cb60857b9cd88a02d29ffec6b775a2cc22dff008970e9c">bothLists</a>
}</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga3a5b54ab814bafc8bb108e37bbee4e19">TFeatureType</a> { <br/>
  <a class="el" href="group__mrpt__vision__grp.html#gga3a5b54ab814bafc8bb108e37bbee4e19a9a6d1ea2a8c8957c81147e2ce5e9f3f1">featNotDefined</a> = -1,
<a class="el" href="group__mrpt__vision__grp.html#gga3a5b54ab814bafc8bb108e37bbee4e19af521d70dbb18c7c919297ac034645d4e">featKLT</a> = 0,
<a class="el" href="group__mrpt__vision__grp.html#gga3a5b54ab814bafc8bb108e37bbee4e19a7850031018540bfc2eee15ccce8a0ca5">featHarris</a>,
<a class="el" href="group__mrpt__vision__grp.html#gga3a5b54ab814bafc8bb108e37bbee4e19aeefe4a844cd023b8dc922b01386d98f2">featBCD</a>,
<br/>
  <a class="el" href="group__mrpt__vision__grp.html#gga3a5b54ab814bafc8bb108e37bbee4e19a8a50f7cac59b399dec959c764bcedd62">featSIFT</a>,
<a class="el" href="group__mrpt__vision__grp.html#gga3a5b54ab814bafc8bb108e37bbee4e19a0928aa6d11142c924e2f2e60598559d5">featSURF</a>,
<a class="el" href="group__mrpt__vision__grp.html#gga3a5b54ab814bafc8bb108e37bbee4e19a40951a6fbc35e0b47a5883f70dd09e0c">featBeacon</a>,
<a class="el" href="group__mrpt__vision__grp.html#gga3a5b54ab814bafc8bb108e37bbee4e19a809c126ef20588226acd0893fa7a6ed5">featFAST</a>,
<br/>
  <a class="el" href="group__mrpt__vision__grp.html#gga3a5b54ab814bafc8bb108e37bbee4e19aa7ab4f83542ee3a069cb05a25af0984c">featFASTER9</a>,
<a class="el" href="group__mrpt__vision__grp.html#gga3a5b54ab814bafc8bb108e37bbee4e19a8dd8e13c6510ea136028e6338f795006">featFASTER10</a>,
<a class="el" href="group__mrpt__vision__grp.html#gga3a5b54ab814bafc8bb108e37bbee4e19aa630e1c730c034cecffc4d11f7337c71">featFASTER12</a>
<br/>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Types of features - This means that the point has been detected with this algorithm, which is independent of additional descriptors a feature may also have. <a href="group__mrpt__vision__grp.html#ga3a5b54ab814bafc8bb108e37bbee4e19">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga1953f4dfcaf2e07e1049bc0a6bbf53ba">TDescriptorType</a> { <br/>
  <a class="el" href="group__mrpt__vision__grp.html#gga1953f4dfcaf2e07e1049bc0a6bbf53baad98c1e9e6948d609e0a2b639dffc0867">descAny</a> = 0,
<a class="el" href="group__mrpt__vision__grp.html#gga1953f4dfcaf2e07e1049bc0a6bbf53baaa6d87aecd8225b626044ddd641eecf99">descSIFT</a> = 1,
<a class="el" href="group__mrpt__vision__grp.html#gga1953f4dfcaf2e07e1049bc0a6bbf53baa15c8a84d8e1efe0fc5c07587e124f3b0">descSURF</a> = 2,
<a class="el" href="group__mrpt__vision__grp.html#gga1953f4dfcaf2e07e1049bc0a6bbf53baa3b3c2bd8233f458981d88226e9e2b517">descSpinImages</a> = 4,
<br/>
  <a class="el" href="group__mrpt__vision__grp.html#gga1953f4dfcaf2e07e1049bc0a6bbf53baa9b8e2f748db92bffe1d6b7a21d21726f">descPolarImages</a> = 8,
<a class="el" href="group__mrpt__vision__grp.html#gga1953f4dfcaf2e07e1049bc0a6bbf53baa390c61465755c909c19e4b2fc5763af6">descLogPolarImages</a> = 16
<br/>
}</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The bitwise OR combination of values of TDescriptorType are used in CFeatureExtraction::computeDescriptors to indicate which descriptors are to be computed for features. <a href="group__mrpt__vision__grp.html#ga1953f4dfcaf2e07e1049bc0a6bbf53ba">More...</a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga0437f34e59ac06cddc3a490e2605bb71">TFeatureTrackStatus</a> { <br/>
  <a class="el" href="group__mrpt__vision__grp.html#gga0437f34e59ac06cddc3a490e2605bb71a7b4b02aab37b191b162d7ecfd74c4fe4">status_IDLE</a> = 0,
<a class="el" href="group__mrpt__vision__grp.html#gga0437f34e59ac06cddc3a490e2605bb71a0aae44767d442aabe1ded915e815b68f">status_TRACKED</a> = 5,
<a class="el" href="group__mrpt__vision__grp.html#gga0437f34e59ac06cddc3a490e2605bb71a1911a86068b8ba81d0ea8739c3d7a795">status_OOB</a> = 1,
<a class="el" href="group__mrpt__vision__grp.html#gga0437f34e59ac06cddc3a490e2605bb71a49ca2957bd7ecaaa912902105b24c5e0">status_LOST</a> = 10,
<br/>
  <a class="el" href="group__mrpt__vision__grp.html#gga0437f34e59ac06cddc3a490e2605bb71a9879fb00796ddd90580b390667c02710">statusKLT_IDLE</a> = 0,
<a class="el" href="group__mrpt__vision__grp.html#gga0437f34e59ac06cddc3a490e2605bb71a209430eccc30485a0549a1ba3fea75c7">statusKLT_OOB</a> = 1,
<a class="el" href="group__mrpt__vision__grp.html#gga0437f34e59ac06cddc3a490e2605bb71ae7d7ef9e6306fb1a546223664b7d43af">statusKLT_SMALL_DET</a> = 2,
<a class="el" href="group__mrpt__vision__grp.html#gga0437f34e59ac06cddc3a490e2605bb71a4574d88abb293be6abb2d5a9f412ce68">statusKLT_LARGE_RESIDUE</a> = 3,
<br/>
  <a class="el" href="group__mrpt__vision__grp.html#gga0437f34e59ac06cddc3a490e2605bb71afe042395cd26c5b51149533b15a99f39">statusKLT_MAX_RESIDUE</a> = 4,
<a class="el" href="group__mrpt__vision__grp.html#gga0437f34e59ac06cddc3a490e2605bb71ab3fa909025d3002ce2c3772a8d9def9a">statusKLT_TRACKED</a> = 5,
<a class="el" href="group__mrpt__vision__grp.html#gga0437f34e59ac06cddc3a490e2605bb71abf7ddf49b7347c2280d013d76856bd9d">statusKLT_MAX_ITERATIONS</a> = 6
<br/>
}</td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrptvision__features.html#gad9b66b3f10ce87deb4b8a636ad90f47d">operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, <a class="el" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> &pObj)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__chessboard__calib.html#ga1da75caa6896523de9ecce29f5abe391">checkerBoardCameraCalibration</a> (<a class="el" href="group__chessboard__calib.html#ga73701bb299aae17c11656efb6c46625d">TCalibrationImageList</a> &images, unsigned int check_size_x, unsigned int check_size_y, double check_squares_length_X_meters, double check_squares_length_Y_meters, <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &out_camera_params, bool normalize_image=true, double *out_MSE=NULL, bool skipDrawDetectedImgs=false, bool useScaramuzzaAlternativeDetector=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs a camera calibration (computation of projection and distortion parameters) from a sequence of captured images of a checkerboard. <a href="group__chessboard__calib.html#ga1da75caa6896523de9ecce29f5abe391"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__chessboard__calib.html#gaa4ed326d576cd201b8a64ebe9bd4f32d">checkerBoardCameraCalibration</a> (<a class="el" href="group__chessboard__calib.html#ga73701bb299aae17c11656efb6c46625d">TCalibrationImageList</a> &images, unsigned int check_size_x, unsigned int check_size_y, double check_squares_length_X_meters, double check_squares_length_Y_meters, <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> &intrinsicParams, <a class="el" href="classstd_1_1vector.html">std::vector</a>< double > &distortionParams, bool normalize_image=true, double *out_MSE=NULL, bool skipDrawDetectedImgs=false, bool useScaramuzzaAlternativeDetector=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Performs a camera calibration (computation of projection and distortion parameters) from a sequence of captured images of a checkerboard. <a href="group__chessboard__calib.html#gaa4ed326d576cd201b8a64ebe9bd4f32d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__chessboard__calib.html#gac88718d9f59ced199ba4475ef7299f30">findChessboardCorners</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">mrpt::utils::CImage</a> &img, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html">TPixelCoordf</a> > &cornerCoords, unsigned int check_size_x, unsigned int check_size_y, bool normalize_image=true, bool useScaramuzzaMethod=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Look for the corners of a chessboard in the image using one of two different methods. <a href="group__chessboard__calib.html#gac88718d9f59ced199ba4475ef7299f30"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__chessboard__calib.html#gafb7eb4cd30b399456b1eb456c32c4be4">findMultipleChessboardsCorners</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">mrpt::utils::CImage</a> &img, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html">TPixelCoordf</a> > > &cornerCoords, unsigned int check_size_x, unsigned int check_size_y)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Look for the corners of one or more chessboard/checkerboards in the image. <a href="group__chessboard__calib.html#gafb7eb4cd30b399456b1eb456c32c4be4"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#ga1192dd875ff5377721d4e1e47a818651">saveQTableToFile</a> (const <a class="el" href="group__multidesc__desc.html#ga41037b24d1ac7f592da18b441b758bec">TQuantizationTable</a> &qTable, const <a class="el" href="classstd_1_1string.html">string</a> &filename)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#ga43a6a0148c61c2796ceabf89ed97b420">insertHashCoeffs</a> (const <a class="el" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> &feat, <a class="el" href="group__multidesc__desc.html#ga41037b24d1ac7f592da18b441b758bec">TQuantizationTable</a> &qTable)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_matching_output.html">TMultiResMatchingOutput</a> <br class="typebreak"/>
VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#gab519c693125be233d24d2e14c436c05c">relocalizeMultiDesc</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &image, <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &baseList, <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &currentList, <a class="el" href="group__multidesc__desc.html#ga41037b24d1ac7f592da18b441b758bec">TQuantizationTable</a> &qTable, const <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html">TMultiResDescOptions</a> &desc_opts, const <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_match_options.html">TMultiResDescMatchOptions</a> &match_opts)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#ga7b2922d335bc23255386e17b7bab4de8">updateBaseList</a> (<a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &baseList, const <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &currentList, const <a class="el" href="classstd_1_1vector.html">vector</a>< int > &idx)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#ga17d86ac8a6a1497c56e402ae0f44865c">checkScalesAndFindMore</a> (<a class="el" href="classmrpt_1_1vision_1_1_c_matched_feature_list.html">CMatchedFeatureList</a> &baseList, const <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &currentList, const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &currentImage, const <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_matching_output.html">TMultiResMatchingOutput</a> &output, const <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html">TMultiResDescOptions</a> &computeOpts, const <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_match_options.html">TMultiResDescMatchOptions</a> &matchOpts)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#ga95a6e927520f9a71ede6e866de72ec97">computeGradient</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &image, const unsigned int x, const unsigned int y, double &mag, double &ori)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the gradient of certain pixel within the image. <a href="group__multidesc__desc.html#ga95a6e927520f9a71ede6e866de72ec97"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#ga5138d7cd167f43089bc8cf87c37a6704">computeMainOrientations</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &image, const unsigned int x, const unsigned int y, const unsigned int patchSize, <a class="el" href="classstd_1_1vector.html">std::vector</a>< double > &orientations, const double &sigma)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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) <a href="group__multidesc__desc.html#ga5138d7cd167f43089bc8cf87c37a6704"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#gad6ff934e65fba3238dd95d9a6b7d849c">interpolateHistEntry</a> (<a class="el" href="classstd_1_1vector.html">vector</a>< double > &hist, const double &cbin, const double &rbin, const double &obin, const double &mag, const int d, const int n)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Inserts the orientation value of a certain pixel within the keypoint neighbourhood into the histogram of orientations. <a href="group__multidesc__desc.html#gad6ff934e65fba3238dd95d9a6b7d849c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#ga189b8b1dd1a693d55d1f9618440ac0b0">computeHistogramOfOrientations</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &image, const unsigned int x, const unsigned int y, const unsigned int patchSize, const double &orientation, <a class="el" href="classstd_1_1vector.html">vector</a>< int32_t > &descriptor, const <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html">TMultiResDescOptions</a> &opts, <a class="el" href="classstd_1_1vector.html">vector</a>< int32_t > &hashCoeffs)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the SIFT-like descriptor of a certain point within an image at the base scale, i.e. <a href="group__multidesc__desc.html#ga189b8b1dd1a693d55d1f9618440ac0b0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_matching_output.html">TMultiResMatchingOutput</a> <br class="typebreak"/>
VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#ga4c87a8b7a04a618213e904d41c901d78">matchMultiResolutionFeatures</a> (const <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &list1, <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &list2, const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &rightImage, const <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_match_options.html">TMultiResDescMatchOptions</a> &matchOpts, const <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html">TMultiResDescOptions</a> &computeOpts)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Matches two <a class="el" 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> containing mulit-resolution descriptors. <a href="group__multidesc__desc.html#ga4c87a8b7a04a618213e904d41c901d78"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#ga6f5b85b8333c8f0f429237e1bdf3b212">matchMultiResolutionFeatures</a> (<a class="el" href="classmrpt_1_1vision_1_1_c_matched_feature_list.html">CMatchedFeatureList</a> &mList1, <a class="el" href="classmrpt_1_1vision_1_1_c_matched_feature_list.html">CMatchedFeatureList</a> &mList2, const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &leftImage, const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &rightImage, const <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_match_options.html">TMultiResDescMatchOptions</a> &matchOpts, const <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html">TMultiResDescOptions</a> &computeOpts)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Matches two <a class="el" href="classmrpt_1_1vision_1_1_c_matched_feature_list.html" title="A list of features.">CMatchedFeatureList</a> containing mulit-resolution descriptors. <a href="group__multidesc__desc.html#ga6f5b85b8333c8f0f429237e1bdf3b212"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">int VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#gaaea42c5f805a29536003a5211fa82683">computeMoreDescriptors</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &image, const <a class="el" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> &inputFeat, <a class="el" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> &outputFeat, const bool &lowerScales, const <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html">TMultiResDescOptions</a> &opts)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes more multi-resolution SIFT-like descriptors for a feature using its position in a new image. <a href="group__multidesc__desc.html#gaaea42c5f805a29536003a5211fa82683"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#gaae2d9ac74878f370cd26a17cf4a14725">setProperScales</a> (const <a class="el" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> &feat1, const <a class="el" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> &feat2, int &firstScale, int &lastScale)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the initial and final scales where to look when finding a match between multi-resolution features. <a href="group__multidesc__desc.html#gaae2d9ac74878f370cd26a17cf4a14725"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#ga51bfd8c21f7419e09d4dfd48f809eef5">computeMultiResolutionDescriptors</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &imageLeft, const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &imageRight, <a class="el" href="classmrpt_1_1vision_1_1_c_matched_feature_list.html">CMatchedFeatureList</a> &matchedFeats, const <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html">TMultiResDescOptions</a> &opts)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the multi-resolution SIFT-like descriptor of a set of matched features. <a href="group__multidesc__desc.html#ga51bfd8c21f7419e09d4dfd48f809eef5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#ga09c4a8812f69ad1b423e0c20f85d1f59">computeMultiResolutionDescriptors</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &image, <a class="el" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> &feat, const <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html">TMultiResDescOptions</a> &opts)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the multi-resolution SIFT-like descriptor of a features. <a href="group__multidesc__desc.html#ga09c4a8812f69ad1b423e0c20f85d1f59"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1vector.html">vector</a>< bool > VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#ga471c1c31dedff2fbf273ae370b802485">computeMultiResolutionDescriptors</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &image, <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &<a class="el" href="classstd_1_1list.html">list</a>, const <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html">TMultiResDescOptions</a> &opts)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the multi-resolution SIFT-like descriptor of a list of features. <a href="group__multidesc__desc.html#ga471c1c31dedff2fbf273ae370b802485"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__multidesc__desc.html#ga3b64ea008fd90d187da7737a277407a9">computeMultiOrientations</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &image, <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &<a class="el" href="classstd_1_1list.html">list</a>, const <a class="el" href="structmrpt_1_1vision_1_1_t_multi_res_desc_options.html">TMultiResDescOptions</a> &opts)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the multi-resolution SIFT-like descriptor of a list of features. <a href="group__multidesc__desc.html#ga3b64ea008fd90d187da7737a277407a9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__vision__tracking.html#ga448561282b2b497927a68d87b89c031b">checkTrackedFeatures</a> (<a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &leftList, <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &rightList, <a class="el" href="structmrpt_1_1vision_1_1_t_matching_options.html">vision::TMatchingOptions</a> options)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Search for correspondences which are not in the same row and deletes them ... <a href="group__vision__tracking.html#ga448561282b2b497927a68d87b89c031b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__vision__tracking.html#ga695207179df350c26c75928d23ebec0e">filterBadCorrsByDistance</a> (<a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">mrpt::utils::TMatchingPairList</a> &<a class="el" href="classstd_1_1list.html">list</a>, unsigned int numberOfSigmas)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Filter bad correspondences by distance ... <a href="group__vision__tracking.html#ga695207179df350c26c75928d23ebec0e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga76734611e12d95e2d1f825d0a8d7b2c9">openCV_cross_correlation</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &img, const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &patch_img, size_t &x_max, size_t &y_max, double &max_val, int x_search_ini=-1, int y_search_ini=-1, int x_search_size=-1, int y_search_size=-1)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the correlation between this image and another one, encapsulating the openCV function cvMatchTemplate This implementation reduced computation time. <a href="group__mrpt__vision__grp.html#ga76734611e12d95e2d1f825d0a8d7b2c9"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga53129d1715497d147744fc65b74dd339">flip</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &img)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Invert an image using OpenCV function. <a href="group__mrpt__vision__grp.html#ga53129d1715497d147744fc65b74dd339"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gae1bdfa0784cd25618e11bc8baedb81fd">pixelTo3D</a> (const <a class="el" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html">TPixelCoordf</a> &xy, const <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> &A)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Extract a UNITARY 3D vector in the direction of a 3D point, given from its (x,y) pixels coordinates, and the camera intrinsic coordinates. <a href="group__mrpt__vision__grp.html#gae1bdfa0784cd25618e11bc8baedb81fd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga75f4e50fe891900c856f3d4c39ca805b">buildIntrinsicParamsMatrix</a> (const double focalLengthX, const double focalLengthY, const double centerX, const double centerY)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Builds the intrinsic parameters matrix A from parameters: <a href="group__mrpt__vision__grp.html#ga75f4e50fe891900c856f3d4c39ca805b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga6854cf65e2102db34841099588c4e107">defaultIntrinsicParamsMatrix</a> (unsigned int camIndex=0, unsigned int resolutionX=320, unsigned int resolutionY=240)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the stored, default intrinsic params matrix for a given camera: <a href="group__mrpt__vision__grp.html#ga6854cf65e2102db34841099588c4e107"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga283472c90efde179b76bba7f278da263">deleteRepeatedFeats</a> (<a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &<a class="el" href="classstd_1_1list.html">list</a>)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Explore the feature list and removes features which are in the same coordinates. <a href="group__mrpt__vision__grp.html#ga283472c90efde179b76bba7f278da263"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gadbb7002c4a2e832ff309c1eefad818ea">rowChecking</a> (<a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &leftList, <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &rightList, float threshold=1.0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Search for correspondences which are not in the same row and deletes them. <a href="group__mrpt__vision__grp.html#gadbb7002c4a2e832ff309c1eefad818ea"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga537c61afa2d0ef023376d933ba0c50fa">getDispersion</a> (const <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &<a class="el" href="classstd_1_1list.html">list</a>, <a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> &std, <a class="el" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> &mean)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the dispersion of the features in the image. <a href="group__mrpt__vision__grp.html#ga537c61afa2d0ef023376d933ba0c50fa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga34408636ab4c6a218c6da6bd9bb51143">correctDistortion</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &in_img, <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &out_img, const <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> &A, const <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">vector_double</a> &dist_coeffs)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a new image where distortion has been removed. <a href="group__mrpt__vision__grp.html#ga34408636ab4c6a218c6da6bd9bb51143"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gae9ba8ad3c1fea073285a3a910e4dc153">computeMsd</a> (const <a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">TMatchingPairList</a> &<a class="el" href="classstd_1_1list.html">list</a>, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">poses::CPose3D</a> &Rt)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the mean squared distance between a set of 3D correspondences ... <a href="group__mrpt__vision__grp.html#gae9ba8ad3c1fea073285a3a910e4dc153"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga97bf65f8894c31cb7b199c3e0c631404">cloudsToMatchedList</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_observation_visual_landmarks.html">CObservationVisualLandmarks</a> &cloud1, const <a class="el" href="classmrpt_1_1slam_1_1_c_observation_visual_landmarks.html">CObservationVisualLandmarks</a> &cloud2, <a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">TMatchingPairList</a> &outList)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Transform two clouds of 3D points into a matched list of points ... <a href="group__mrpt__vision__grp.html#ga97bf65f8894c31cb7b199c3e0c631404"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga8bb4c04a6114aa09b09eb2fa7a66e131">computeMainOrientation</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &image, unsigned int x, unsigned int y)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the main orientation of a set of points with an image (for using in SIFT-based algorithms) <a href="group__mrpt__vision__grp.html#ga8bb4c04a6114aa09b09eb2fa7a66e131"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga78b70d757600704d6cd9a3ca37b838e8">normalizeImage</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &image, <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &nimage)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Normalizes the brigthness and contrast of an image by setting its mean value to zero and its standard deviation to unit. <a href="group__mrpt__vision__grp.html#ga78b70d757600704d6cd9a3ca37b838e8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gad073bd2b1235df6a75e73a72df701204">matchFeatures</a> (const <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &list1, const <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &list2, <a class="el" href="classmrpt_1_1vision_1_1_c_matched_feature_list.html">CMatchedFeatureList</a> &matches, const <a class="el" href="structmrpt_1_1vision_1_1_t_matching_options.html">TMatchingOptions</a> &options=<a class="el" href="structmrpt_1_1vision_1_1_t_matching_options.html">TMatchingOptions</a>(), const <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html">TStereoSystemParams</a> &params=<a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html">TStereoSystemParams</a>())</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Find the matches between two lists of features which must be of the same type. <a href="group__mrpt__vision__grp.html#gad073bd2b1235df6a75e73a72df701204"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga1d6950fc414d2b15fb0ecb349a84098a">generateMask</a> (const <a class="el" href="classmrpt_1_1vision_1_1_c_matched_feature_list.html">CMatchedFeatureList</a> &mList, <a class="el" href="namespacemrpt_1_1math.html#a765e955a6829486aae0340e4087964e6">CMatrixBool</a> &mask1, <a class="el" href="namespacemrpt_1_1math.html#a765e955a6829486aae0340e4087964e6">CMatrixBool</a> &mask2, int wSize=10)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calculates the Sum of Absolutes Differences (range [0,1]) between two patches. <a href="group__mrpt__vision__grp.html#ga1d6950fc414d2b15fb0ecb349a84098a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga91460061069d5c5223ca96e997f0023a">computeSAD</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &patch1, const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &patch2)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Calculates the Sum of Absolutes Differences (range [0,1]) between two patches. <a href="group__mrpt__vision__grp.html#ga91460061069d5c5223ca96e997f0023a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gaa6de04e12e3fad427c0e10ab6f770bcf">addFeaturesToImage</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &inImg, const <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &theList, <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &outImg)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Draw rectangles around each of the features on a copy of the input image. <a href="group__mrpt__vision__grp.html#gaa6de04e12e3fad427c0e10ab6f770bcf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gad219474cf31289ceec53218a2accc73e">projectMatchedFeatures</a> (const <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &leftList, const <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &rightList, <a class="el" href="classstd_1_1vector.html">vector</a>< <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> > &vP3D, const <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html">TStereoSystemParams</a> &params=<a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html">TStereoSystemParams</a>())</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the 3D position of a set of matched features from their coordinates in the images. <a href="group__mrpt__vision__grp.html#gad219474cf31289ceec53218a2accc73e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga30399c3913ad2700d9097dfdffd75cc8">projectMatchedFeature</a> (const <a class="el" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> &leftFeat, const <a class="el" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> &rightFeat, <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> &p3D, const <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html">TStereoSystemParams</a> &params=<a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html">TStereoSystemParams</a>())</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the 3D position of a particular matched feature. <a href="group__mrpt__vision__grp.html#ga30399c3913ad2700d9097dfdffd75cc8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gaa842d7fb358a77d51ebb78d871de9088">projectMatchedFeatures</a> (<a class="el" href="classmrpt_1_1vision_1_1_c_matched_feature_list.html">CMatchedFeatureList</a> &mfList, const <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html">TStereoSystemParams</a> &param, <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">CLandmarksMap</a> &landmarks)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Project a list of matched features into the 3D space, using the provided parameters of the stereo system. <a href="group__mrpt__vision__grp.html#gaa842d7fb358a77d51ebb78d871de9088"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga887ad9b3e2329ffc707e888f1977499d">projectMatchedFeatures</a> (<a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &leftList, <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a> &rightList, const <a class="el" href="structmrpt_1_1vision_1_1_t_stereo_system_params.html">TStereoSystemParams</a> &param, <a class="el" href="classmrpt_1_1slam_1_1_c_landmarks_map.html">CLandmarksMap</a> &landmarks)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Project a pair of feature lists into the 3D space, using the provided options for the stereo system. <a href="group__mrpt__vision__grp.html#ga887ad9b3e2329ffc707e888f1977499d"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gae2f5e513a60be2eae856a942a7d1c4c7">StereoObs2BRObs</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html">CObservationStereoImages</a> &inObs, const <a class="el" href="classstd_1_1vector.html">vector</a>< double > &sg, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html">CObservationBearingRange</a> &outObs)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Converts a stereo images observation into a bearing and range observation. <a href="group__mrpt__vision__grp.html#gae2f5e513a60be2eae856a942a7d1c4c7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gabd4f827a4fc656d2bf8a17fbba7d85a8">StereoObs2BRObs</a> (const <a class="el" href="classmrpt_1_1vision_1_1_c_matched_feature_list.html">CMatchedFeatureList</a> &inMatches, const <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> &intrinsicParams, const double &baseline, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">CPose3D</a> &sensorPose, const <a class="el" href="classstd_1_1vector.html">vector</a>< double > &sg, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html">CObservationBearingRange</a> &outObs)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Converts a matched feature list into a bearing and range observation (some of the stereo camera system must be provided). <a href="group__mrpt__vision__grp.html#gabd4f827a4fc656d2bf8a17fbba7d85a8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#gae387faf9d64551d68f067cf506cacf3a">StereoObs2BRObs</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_observation_visual_landmarks.html">CObservationVisualLandmarks</a> &inObs, <a class="el" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html">CObservationBearingRange</a> &outObs)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Converts a CObservationVisualLandmarks into a bearing and range observation (without any covariances). <a href="group__mrpt__vision__grp.html#gae387faf9d64551d68f067cf506cacf3a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrpt__vision__grp.html#ga13bd323aaefe18e181cad689468a113f">computeStereoRectificationMaps</a> (const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">TCamera</a> &cam1, const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">TCamera</a> &cam2, const <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d.html">poses::CPose3D</a> &rightCameraPose, void *outMap1x, void *outMap1y, void *outMap2x, void *outMap2y)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes a pair of x-and-y maps for stereo rectification from a pair of cameras and the relative pose of the second one wrt the first one. <a href="group__mrpt__vision__grp.html#ga13bd323aaefe18e181cad689468a113f"></a><br/></td></tr>
<tr><td colspan="2"><div class="groupHeader">Bundle-Adjustment Auxiliary methods</div></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bundle__adj.html#ga3d11e2afc4d575bacd1699f9ba0f479a">ba_initial_estimate</a> (const <a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html">mrpt::vision::TSequenceFeatureObservations</a> &observations, const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &camera_params, <a class="el" href="group__mrpt__vision__grp.html#gabe5f1a7756ced9db83e245414fd54def">mrpt::vision::TFramePosesVec</a> &frame_poses, <a class="el" href="group__mrpt__vision__grp.html#gaa8fa8b53643b4e650a959867691e3adc">mrpt::vision::TLandmarkLocationsVec</a> &landmark_points)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Fills the frames & landmark points maps with an initial gross estimate from the sequence <em>observations</em>, so they can be fed to bundle adjustment methods. <a href="group__bundle__adj.html#ga3d11e2afc4d575bacd1699f9ba0f479a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bundle__adj.html#gab92c9a153aa4c107299f26be55179a0e">ba_initial_estimate</a> (const <a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html">mrpt::vision::TSequenceFeatureObservations</a> &observations, const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &camera_params, <a class="el" href="group__mrpt__vision__grp.html#ga62b8ac1f5f748ac325c921ee16b28ff7">mrpt::vision::TFramePosesMap</a> &frame_poses, <a class="el" href="group__mrpt__vision__grp.html#gaef17b094c368f8a0ea926e8af3183feb">mrpt::vision::TLandmarkLocationsMap</a> &landmark_points)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bundle__adj.html#ga008e17744135c93e2ab9ae735372435c">reprojectionResiduals</a> (const <a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html">mrpt::vision::TSequenceFeatureObservations</a> &observations, const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &camera_params, const <a class="el" href="group__mrpt__vision__grp.html#gabe5f1a7756ced9db83e245414fd54def">mrpt::vision::TFramePosesVec</a> &frame_poses, const <a class="el" href="group__mrpt__vision__grp.html#gaa8fa8b53643b4e650a959867691e3adc">mrpt::vision::TLandmarkLocationsVec</a> &landmark_points, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1math_1_1_c_array.html">CArray</a>< double, 2 > > &out_residuals, const bool frame_poses_are_inverse, const bool use_robust_kernel=true, const double kernel_param=3.0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Compute reprojection error vector (used from within Bundle Adjustment methods, but can be used in general) See <a class="el" href="group__bundle__adj.html#gabb5e8247d164906bce57a3c05b001953" title="Sparse Levenberg-Marquart solution to bundle adjustment - optimizes all the camera frames & the landm...">mrpt::vision::bundle_adj_full</a> for a description of most parameters. <a href="group__bundle__adj.html#ga008e17744135c93e2ab9ae735372435c"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bundle__adj.html#ga2c437db09dbcaf05c33d2bb0e38a56b8">reprojectionResiduals</a> (const <a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html">mrpt::vision::TSequenceFeatureObservations</a> &observations, const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &camera_params, const <a class="el" href="group__mrpt__vision__grp.html#ga62b8ac1f5f748ac325c921ee16b28ff7">mrpt::vision::TFramePosesMap</a> &frame_poses, const <a class="el" href="group__mrpt__vision__grp.html#gaef17b094c368f8a0ea926e8af3183feb">mrpt::vision::TLandmarkLocationsMap</a> &landmark_points, <a class="el" href="classstd_1_1vector.html">std::vector</a>< <a class="el" href="classmrpt_1_1math_1_1_c_array.html">CArray</a>< double, 2 > > &out_residuals, const bool frame_poses_are_inverse, const bool use_robust_kernel=true, const double kernel_param=3.0)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bundle__adj.html#ga96e2458ae31058a3a0125258ca469d44">add_se3_deltas_to_frames</a> (const <a class="el" href="group__mrpt__vision__grp.html#gabe5f1a7756ced9db83e245414fd54def">mrpt::vision::TFramePosesVec</a> &frame_poses, const <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">mrpt::vector_double</a> &delta, const size_t delta_first_idx, const size_t delta_num_vals, <a class="el" href="group__mrpt__vision__grp.html#gabe5f1a7756ced9db83e245414fd54def">mrpt::vision::TFramePosesVec</a> &new_frame_poses, const size_t num_fix_frames)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For each pose in the vector <em>frame_poses</em>, adds a "delta" increment to the manifold, with the "delta" given in the se(3) Lie algebra: <a href="group__bundle__adj.html#ga96e2458ae31058a3a0125258ca469d44"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bundle__adj.html#gad10bdb5e4afebe6c3b535dc888b235b1">add_3d_deltas_to_points</a> (const <a class="el" href="group__mrpt__vision__grp.html#gaa8fa8b53643b4e650a959867691e3adc">mrpt::vision::TLandmarkLocationsVec</a> &landmark_points, const <a class="el" href="namespacemrpt.html#a4a6aab2c98368ca6b554c04f8fe84cfb">mrpt::vector_double</a> &delta, const size_t delta_first_idx, const size_t delta_num_vals, <a class="el" href="group__mrpt__vision__grp.html#gaa8fa8b53643b4e650a959867691e3adc">mrpt::vision::TLandmarkLocationsVec</a> &new_landmark_points, const size_t num_fix_points)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">For each pose in the vector <em>frame_poses</em>, adds a "delta" increment to the manifold, with the "delta" given in the se(3) Lie algebra: <a href="group__bundle__adj.html#gad10bdb5e4afebe6c3b535dc888b235b1"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
Bundle-Adjustment methods</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef void(* </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1vision.html#a7e12f372278c656321223eec4aced3fb">TBundleAdjustmentFeedbackFunctor</a> )(const size_t cur_iter, const double cur_total_sq_error, const size_t max_iters, const <a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html">mrpt::vision::TSequenceFeatureObservations</a> &input_observations, const <a class="el" href="group__mrpt__vision__grp.html#gabe5f1a7756ced9db83e245414fd54def">mrpt::vision::TFramePosesVec</a> &current_frame_estimate, const <a class="el" href="group__mrpt__vision__grp.html#gaa8fa8b53643b4e650a959867691e3adc">mrpt::vision::TLandmarkLocationsVec</a> &current_landmark_estimate)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A functor type for BA methods. <a href="#a7e12f372278c656321223eec4aced3fb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double VISION_IMPEXP </td><td class="memItemRight" valign="bottom"><a class="el" href="group__bundle__adj.html#gabb5e8247d164906bce57a3c05b001953">bundle_adj_full</a> (const <a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html">mrpt::vision::TSequenceFeatureObservations</a> &observations, const <a class="el" href="classmrpt_1_1utils_1_1_t_camera.html">mrpt::utils::TCamera</a> &camera_params, <a class="el" href="group__mrpt__vision__grp.html#gabe5f1a7756ced9db83e245414fd54def">mrpt::vision::TFramePosesVec</a> &frame_poses, <a class="el" href="group__mrpt__vision__grp.html#gaa8fa8b53643b4e650a959867691e3adc">mrpt::vision::TLandmarkLocationsVec</a> &landmark_points, const <a class="el" href="namespacemrpt_1_1utils.html#a694777f2a3544999baea34e43a42eceb">mrpt::utils::TParametersDouble</a> &extra_params=<a class="el" href="namespacemrpt_1_1utils.html#a694777f2a3544999baea34e43a42eceb">mrpt::utils::TParametersDouble</a>(), const <a class="el" href="namespacemrpt_1_1vision.html#a7e12f372278c656321223eec4aced3fb">mrpt::vision::TBundleAdjustmentFeedbackFunctor</a> user_feedback=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Sparse Levenberg-Marquart solution to bundle adjustment - optimizes all the camera frames & the landmark locations. <a href="group__bundle__adj.html#gabb5e8247d164906bce57a3c05b001953"></a><br/></td></tr>
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<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="a7e12f372278c656321223eec4aced3fb"></a><!-- doxytag: member="mrpt::vision::TBundleAdjustmentFeedbackFunctor" ref="a7e12f372278c656321223eec4aced3fb" args=")(const size_t cur_iter, const double cur_total_sq_error, const size_t max_iters, const mrpt::vision::TSequenceFeatureObservations &input_observations, const mrpt::vision::TFramePosesVec &current_frame_estimate, const mrpt::vision::TLandmarkLocationsVec &current_landmark_estimate)" -->
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<td class="memname">typedef void(* <a class="el" href="namespacemrpt_1_1vision.html#a7e12f372278c656321223eec4aced3fb">mrpt::vision::TBundleAdjustmentFeedbackFunctor</a>)(const size_t cur_iter, const double cur_total_sq_error, const size_t max_iters, const <a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html">mrpt::vision::TSequenceFeatureObservations</a> &input_observations, const <a class="el" href="group__mrpt__vision__grp.html#gabe5f1a7756ced9db83e245414fd54def">mrpt::vision::TFramePosesVec</a> &current_frame_estimate, const <a class="el" href="group__mrpt__vision__grp.html#gaa8fa8b53643b4e650a959867691e3adc">mrpt::vision::TLandmarkLocationsVec</a> &current_landmark_estimate)</td>
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<p>A functor type for BA methods. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__bundle__adj.html#gabb5e8247d164906bce57a3c05b001953" title="Sparse Levenberg-Marquart solution to bundle adjustment - optimizes all the camera frames & the landm...">bundle_adj_full</a> </dd></dl>
<p>Definition at line <a class="el" href="bundle__adjustment_8h_source.html#l00055">55</a> of file <a class="el" href="bundle__adjustment_8h_source.html">bundle_adjustment.h</a>.</p>
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<hr/><h2>Enumeration Type Documentation</h2>
<a class="anchor" id="a134cb9579c5bea92ba1cb60857b9cd88"></a><!-- doxytag: member="mrpt::vision::TListIdx" ref="a134cb9579c5bea92ba1cb60857b9cd88" args="" -->
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<td class="memname">enum <a class="el" href="namespacemrpt_1_1vision.html#a134cb9579c5bea92ba1cb60857b9cd88">mrpt::vision::TListIdx</a></td>
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<dl><dt><b>Enumerator: </b></dt><dd><table border="0" cellspacing="2" cellpadding="0">
<tr><td valign="top"><em><a class="anchor" id="a134cb9579c5bea92ba1cb60857b9cd88a74f7dc03bf5edb3db74e4fccbb7ce091"></a><!-- doxytag: member="firstList" ref="a134cb9579c5bea92ba1cb60857b9cd88a74f7dc03bf5edb3db74e4fccbb7ce091" args="" -->firstList</em> </td><td>
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<tr><td valign="top"><em><a class="anchor" id="a134cb9579c5bea92ba1cb60857b9cd88a9646f2ebe6beefc0aa5e699908f1c7e6"></a><!-- doxytag: member="secondList" ref="a134cb9579c5bea92ba1cb60857b9cd88a9646f2ebe6beefc0aa5e699908f1c7e6" args="" -->secondList</em> </td><td>
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<tr><td valign="top"><em><a class="anchor" id="a134cb9579c5bea92ba1cb60857b9cd88a02d29ffec6b775a2cc22dff008970e9c"></a><!-- doxytag: member="bothLists" ref="a134cb9579c5bea92ba1cb60857b9cd88a02d29ffec6b775a2cc22dff008970e9c" args="" -->bothLists</em> </td><td>
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<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00051">51</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<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>
