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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1vision.html">vision</a> </li>
<li class="navelem"><a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html">TSequenceFeatureObservations</a> </li>
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<a href="#pub-types">Public Types</a> |
<a href="#pub-methods">Public Member Functions</a> </div>
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<div class="title">mrpt::vision::TSequenceFeatureObservations Struct Reference<div class="ingroups"><a class="el" href="group__mrpt__vision__grp.html">[mrpt-vision]</a></div></div> </div>
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<!-- doxytag: class="mrpt::vision::TSequenceFeatureObservations" --><!-- doxytag: inherits="vector< TFeatureObservation >" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A complete sequence of observations of features from different camera frames (poses). </p>
<p>This structure is the input to some (Bundle-adjustment) methods in <a class="el" href="namespacemrpt_1_1vision.html" title="Classes for computer vision, detectors, features, etc.">mrpt::vision</a> </p>
<dl class="note"><dt><b>Note:</b></dt><dd>Pixel coordinates can be either "raw" or "undistorted". Read the doc of functions handling this structure to see what they expect. </dd></dl>
<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...">mrpt::vision::bundle_adj_full</a> </dd></dl>
</div>
<p><code>#include <<a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">mrpt/vision/types.h</a>></code></p>
<div class="dynheader">
Inheritance diagram for mrpt::vision::TSequenceFeatureObservations:</div>
<div class="dyncontent">
<div class="center"><img src="structmrpt_1_1vision_1_1_t_sequence_feature_observations__inherit__graph.png" border="0" usemap="#mrpt_1_1vision_1_1_t_sequence_feature_observations_inherit__map" alt="Inheritance graph"/></div>
<map name="mrpt_1_1vision_1_1_t_sequence_feature_observations_inherit__map" id="mrpt_1_1vision_1_1_t_sequence_feature_observations_inherit__map">
<area shape="rect" id="node2" href="classstd_1_1vector.html" title="std::vector\< TFeatureObservation \>" alt="" coords="31,96,261,123"/><area shape="rect" id="node4" href="classstd_1_1vector.html" title="STL class." alt="" coords="105,5,188,32"/></map>
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
<p><a href="structmrpt_1_1vision_1_1_t_sequence_feature_observations-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="classstd_1_1vector.html">std::vector</a><br class="typebreak"/>
< <a class="el" href="structmrpt_1_1vision_1_1_t_feature_observation.html">TFeatureObservation</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html#ac548b74abe757a69326f26ce2b484ead">BASE</a></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html#af8b82039badd2873dbd76e24a23b88fe">TSequenceFeatureObservations</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html#a96b35f3cf50bcde483952d19d709300a">TSequenceFeatureObservations</a> (size_t size)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html#a5321b9cdd719e2b06e00fa5ad06cce95">TSequenceFeatureObservations</a> (const <a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html">TSequenceFeatureObservations</a> &o)</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html#a9c4b10306f5fd12d28f413754595bb4e">saveToTextFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &filName, bool skipFirstCommentLine=false) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Saves all entries to a text file, with each line having this format: #FRAME_ID #FEAT_ID #PIXEL_X #PIXEL_Y The file is self-descripting, since the first line contains a comment line (starting with '%') explaining the format. <a href="#a9c4b10306f5fd12d28f413754595bb4e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html#ace6d8f1b32e433955cde5e208dcc7d90">loadFromTextFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &filName)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Load from a text file, in the format described in <em>saveToTextFile</em> </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On I/O or format error. </td></tr>
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</dd>
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<a href="#ace6d8f1b32e433955cde5e208dcc7d90"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html#a088193f5cd45cf7d70dde79e97daa713">saveAsSBAFiles</a> (const <a class="el" href="group__mrpt__vision__grp.html#gaa8fa8b53643b4e650a959867691e3adc">TLandmarkLocationsVec</a> &pts, const <a class="el" href="classstd_1_1string.html">std::string</a> &pts_file, const <a class="el" href="group__mrpt__vision__grp.html#gabe5f1a7756ced9db83e245414fd54def">TFramePosesVec</a> &cams, const <a class="el" href="classstd_1_1string.html">std::string</a> &cams_file) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save the list of observations + the point locations + the camera frame poses to a pair of files in the format used by the Sparse Bundle Adjustment (SBA) C++ library. <a href="#a088193f5cd45cf7d70dde79e97daa713"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">size_t </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html#a4c14011a31a0c2064e6a69e26d650349">removeFewObservedFeatures</a> (size_t minNumObservations=3)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Remove all those features that don't have a minimum number of observations from different camera frame IDs. <a href="#a4c14011a31a0c2064e6a69e26d650349"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html#a92f30a47a3e5afda1279b7d7cb864aff">decimateCameraFrames</a> (const size_t decimate_ratio)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Remove all but one out of <em>decimate_ratio</em> camera frame IDs from the list (eg: from N camera pose IDs at return there will be just N/decimate_ratio) The algorithm first builds a sorted list of frame IDs, then keep the lowest ID, remove the next "decimate_ratio-1", and so on. <a href="#a92f30a47a3e5afda1279b7d7cb864aff"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html#ad7d658bc19437af11b38afa2d4f0a372">compressIDs</a> (<a class="el" href="classstd_1_1map.html">std::map</a>< <a class="el" href="group__mrpt__vision__grp.html#gae9363bed7e308d38b23c0bcac8b5e5d8">TCameraPoseID</a>, <a class="el" href="group__mrpt__vision__grp.html#gae9363bed7e308d38b23c0bcac8b5e5d8">TCameraPoseID</a> > *old2new_camIDs=NULL, <a class="el" href="classstd_1_1map.html">std::map</a>< <a class="el" href="group__mrpt__vision__grp.html#ga6c3892de843a8cf3bb52017d2933020f">TLandmarkID</a>, <a class="el" href="group__mrpt__vision__grp.html#ga6c3892de843a8cf3bb52017d2933020f">TLandmarkID</a> > *old2new_lmIDs=NULL)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Rearrange frame and feature IDs such as they start at 0 and there are no gaps. <a href="#ad7d658bc19437af11b38afa2d4f0a372"></a><br/></td></tr>
</table>
<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="ac548b74abe757a69326f26ce2b484ead"></a><!-- doxytag: member="mrpt::vision::TSequenceFeatureObservations::BASE" ref="ac548b74abe757a69326f26ce2b484ead" args="" -->
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<td class="memname">typedef <a class="el" href="classstd_1_1vector.html">std::vector</a><<a class="el" href="structmrpt_1_1vision_1_1_t_feature_observation.html">TFeatureObservation</a>> <a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html#ac548b74abe757a69326f26ce2b484ead">mrpt::vision::TSequenceFeatureObservations::BASE</a></td>
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<p>Definition at line <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html#l00149">149</a> of file <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">vision/include/mrpt/vision/types.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="af8b82039badd2873dbd76e24a23b88fe"></a><!-- doxytag: member="mrpt::vision::TSequenceFeatureObservations::TSequenceFeatureObservations" ref="af8b82039badd2873dbd76e24a23b88fe" args="()" -->
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<td class="memname">mrpt::vision::TSequenceFeatureObservations::TSequenceFeatureObservations </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html#l00151">151</a> of file <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">vision/include/mrpt/vision/types.h</a>.</p>
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<a class="anchor" id="a96b35f3cf50bcde483952d19d709300a"></a><!-- doxytag: member="mrpt::vision::TSequenceFeatureObservations::TSequenceFeatureObservations" ref="a96b35f3cf50bcde483952d19d709300a" args="(size_t size)" -->
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<td class="memname">mrpt::vision::TSequenceFeatureObservations::TSequenceFeatureObservations </td>
<td>(</td>
<td class="paramtype">size_t </td>
<td class="paramname"><em>size</em></td><td>)</td>
<td><code> [inline]</code></td>
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<p>Definition at line <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html#l00152">152</a> of file <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">vision/include/mrpt/vision/types.h</a>.</p>
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<a class="anchor" id="a5321b9cdd719e2b06e00fa5ad06cce95"></a><!-- doxytag: member="mrpt::vision::TSequenceFeatureObservations::TSequenceFeatureObservations" ref="a5321b9cdd719e2b06e00fa5ad06cce95" args="(const TSequenceFeatureObservations &o)" -->
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<td class="memname">mrpt::vision::TSequenceFeatureObservations::TSequenceFeatureObservations </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html">TSequenceFeatureObservations</a> & </td>
<td class="paramname"><em>o</em></td><td>)</td>
<td><code> [inline]</code></td>
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<div class="memdoc">
<p>Definition at line <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html#l00153">153</a> of file <a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">vision/include/mrpt/vision/types.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="ad7d658bc19437af11b38afa2d4f0a372"></a><!-- doxytag: member="mrpt::vision::TSequenceFeatureObservations::compressIDs" ref="ad7d658bc19437af11b38afa2d4f0a372" args="(std::map< TCameraPoseID, TCameraPoseID > *old2new_camIDs=NULL, std::map< TLandmarkID, TLandmarkID > *old2new_lmIDs=NULL)" -->
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<td class="memname">void mrpt::vision::TSequenceFeatureObservations::compressIDs </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classstd_1_1map.html">std::map</a>< <a class="el" href="group__mrpt__vision__grp.html#gae9363bed7e308d38b23c0bcac8b5e5d8">TCameraPoseID</a>, <a class="el" href="group__mrpt__vision__grp.html#gae9363bed7e308d38b23c0bcac8b5e5d8">TCameraPoseID</a> > * </td>
<td class="paramname"><em>old2new_camIDs</em> = <code>NULL</code>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classstd_1_1map.html">std::map</a>< <a class="el" href="group__mrpt__vision__grp.html#ga6c3892de843a8cf3bb52017d2933020f">TLandmarkID</a>, <a class="el" href="group__mrpt__vision__grp.html#ga6c3892de843a8cf3bb52017d2933020f">TLandmarkID</a> > * </td>
<td class="paramname"><em>old2new_lmIDs</em> = <code>NULL</code> </td>
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<p>Rearrange frame and feature IDs such as they start at 0 and there are no gaps. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">old2new_camIDs</td><td>If provided, the mapping from old to new IDs is stored here. </td></tr>
<tr><td class="paramname">old2new_lmIDs</td><td>If provided, the mapping from old to new IDs is stored here. </td></tr>
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</dd>
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<a class="anchor" id="a92f30a47a3e5afda1279b7d7cb864aff"></a><!-- doxytag: member="mrpt::vision::TSequenceFeatureObservations::decimateCameraFrames" ref="a92f30a47a3e5afda1279b7d7cb864aff" args="(const size_t decimate_ratio)" -->
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<td class="memname">void mrpt::vision::TSequenceFeatureObservations::decimateCameraFrames </td>
<td>(</td>
<td class="paramtype">const size_t </td>
<td class="paramname"><em>decimate_ratio</em></td><td>)</td>
<td></td>
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<p>Remove all but one out of <em>decimate_ratio</em> camera frame IDs from the list (eg: from N camera pose IDs at return there will be just N/decimate_ratio) The algorithm first builds a sorted list of frame IDs, then keep the lowest ID, remove the next "decimate_ratio-1", and so on. </p>
<dl class="see"><dt><b>See also:</b></dt><dd>After calling this you may want to call <em><a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html#ad7d658bc19437af11b38afa2d4f0a372" title="Rearrange frame and feature IDs such as they start at 0 and there are no gaps.">compressIDs</a></em> </dd></dl>
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<a class="anchor" id="ace6d8f1b32e433955cde5e208dcc7d90"></a><!-- doxytag: member="mrpt::vision::TSequenceFeatureObservations::loadFromTextFile" ref="ace6d8f1b32e433955cde5e208dcc7d90" args="(const std::string &filName)" -->
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<td class="memname">void mrpt::vision::TSequenceFeatureObservations::loadFromTextFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
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<p>Load from a text file, in the format described in <em>saveToTextFile</em> </p>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On I/O or format error. </td></tr>
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<a class="anchor" id="a4c14011a31a0c2064e6a69e26d650349"></a><!-- doxytag: member="mrpt::vision::TSequenceFeatureObservations::removeFewObservedFeatures" ref="a4c14011a31a0c2064e6a69e26d650349" args="(size_t minNumObservations=3)" -->
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<td class="memname">size_t mrpt::vision::TSequenceFeatureObservations::removeFewObservedFeatures </td>
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<p>Remove all those features that don't have a minimum number of observations from different camera frame IDs. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>the number of erased entries. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd>After calling this you may want to call <em><a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html#ad7d658bc19437af11b38afa2d4f0a372" title="Rearrange frame and feature IDs such as they start at 0 and there are no gaps.">compressIDs</a></em> </dd></dl>
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<a class="anchor" id="a088193f5cd45cf7d70dde79e97daa713"></a><!-- doxytag: member="mrpt::vision::TSequenceFeatureObservations::saveAsSBAFiles" ref="a088193f5cd45cf7d70dde79e97daa713" args="(const TLandmarkLocationsVec &pts, const std::string &pts_file, const TFramePosesVec &cams, const std::string &cams_file) const " -->
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<td class="memname">bool mrpt::vision::TSequenceFeatureObservations::saveAsSBAFiles </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="group__mrpt__vision__grp.html#gaa8fa8b53643b4e650a959867691e3adc">TLandmarkLocationsVec</a> & </td>
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<td class="paramname"><em>pts_file</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="group__mrpt__vision__grp.html#gabe5f1a7756ced9db83e245414fd54def">TFramePosesVec</a> & </td>
<td class="paramname"><em>cams</em>, </td>
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<p>Save the list of observations + the point locations + the camera frame poses to a pair of files in the format used by the Sparse Bundle Adjustment (SBA) C++ library. </p>
<p>Point file lines: X Y Z nframes frame0 x0 y0 frame1 x1 y1 ...</p>
<p>Camera file lines: qr qx qy qz x y z (Pose as a quaternion) </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>false on any error </dd></dl>
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<a class="anchor" id="a9c4b10306f5fd12d28f413754595bb4e"></a><!-- doxytag: member="mrpt::vision::TSequenceFeatureObservations::saveToTextFile" ref="a9c4b10306f5fd12d28f413754595bb4e" args="(const std::string &filName, bool skipFirstCommentLine=false) const " -->
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<td class="memname">void mrpt::vision::TSequenceFeatureObservations::saveToTextFile </td>
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<td class="paramname"><em>filName</em>, </td>
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<p>Saves all entries to a text file, with each line having this format: #FRAME_ID #FEAT_ID #PIXEL_X #PIXEL_Y The file is self-descripting, since the first line contains a comment line (starting with '%') explaining the format. </p>
<p>Generated files can be loaded from MATLAB. </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="structmrpt_1_1vision_1_1_t_sequence_feature_observations.html#ace6d8f1b32e433955cde5e208dcc7d90" title="Load from a text file, in the format described in saveToTextFile On I/O or format error...">loadFromTextFile</a> </dd></dl>
<dl><dt><b>Exceptions:</b></dt><dd>
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<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On I/O error </td></tr>
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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>
