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<div class="title">utils.h File Reference</div> </div>
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<div class="textblock"><code>#include <<a class="el" href="_c_feature_8h_source.html">mrpt/vision/CFeature.h</a>></code><br/>
<code>#include <<a class="el" href="_c_image_8h_source.html">mrpt/utils/CImage.h</a>></code><br/>
<code>#include <<a class="el" href="base_2include_2mrpt_2math_2utils_8h_source.html">mrpt/math/utils.h</a>></code><br/>
<code>#include <<a class="el" href="_c_loadable_options_8h_source.html">mrpt/utils/CLoadableOptions.h</a>></code><br/>
<code>#include <<a class="el" href="_t_matching_pair_8h_source.html">mrpt/utils/TMatchingPair.h</a>></code><br/>
<code>#include <<a class="el" href="_c_pose3_d_8h_source.html">mrpt/poses/CPose3D.h</a>></code><br/>
<code>#include <<a class="el" href="_c_point2_d_8h_source.html">mrpt/poses/CPoint2D.h</a>></code><br/>
<code>#include <<a class="el" href="_c_point3_d_8h_source.html">mrpt/poses/CPoint3D.h</a>></code><br/>
<code>#include <<a class="el" href="vision_2include_2mrpt_2vision_2types_8h_source.html">mrpt/vision/types.h</a>></code><br/>
<code>#include <<a class="el" href="chessboard__camera__calib_8h_source.html">mrpt/vision/chessboard_camera_calib.h</a>></code><br/>
<code>#include <<a class="el" href="vision_2include_2mrpt_2vision_2link__pragmas_8h_source.html">mrpt/vision/link_pragmas.h</a>></code><br/>
</div><div class="textblock"><div class="dynheader">
Include dependency graph for vision/include/mrpt/vision/utils.h:</div>
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<p><a href="vision_2include_2mrpt_2vision_2utils_8h_source.html">Go to the source code of this file.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="namespaces"></a>
Namespaces</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt.html">mrpt</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries. </p>
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<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1slam.html">mrpt::slam</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>This namespace contains algorithms for SLAM, localization, map building, representation of robot's actions and observations, and representation of many kinds of metric maps. </p>
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<tr><td class="memItemLeft" align="right" valign="top">namespace  </td><td class="memItemRight" valign="bottom"><a class="el" href="namespacemrpt_1_1vision.html">mrpt::vision</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight"><p>Classes for computer vision, detectors, features, etc. </p>
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<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></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">mrpt::vision::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">mrpt::vision::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">mrpt::vision::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">mrpt::vision::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">mrpt::vision::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">mrpt::vision::deleteRepeatedFeats</a> (CFeatureList &list)</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">mrpt::vision::rowChecking</a> (CFeatureList &leftList, CFeatureList &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">mrpt::vision::getDispersion</a> (const CFeatureList &list, vector_float &std, vector_float &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">mrpt::vision::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 vector_double &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">mrpt::vision::computeMsd</a> (const <a class="el" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html">TMatchingPairList</a> &list, const poses::CPose3D &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">mrpt::vision::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">mrpt::vision::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">mrpt::vision::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">mrpt::vision::matchFeatures</a> (const CFeatureList &list1, const CFeatureList &list2, CMatchedFeatureList &matches, const TMatchingOptions &options=TMatchingOptions(), const TStereoSystemParams &params=TStereoSystemParams())</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">mrpt::vision::generateMask</a> (const CMatchedFeatureList &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">mrpt::vision::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">mrpt::vision::addFeaturesToImage</a> (const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> &inImg, const CFeatureList &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">mrpt::vision::projectMatchedFeatures</a> (const CFeatureList &leftList, const CFeatureList &rightList, vector< <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> > &vP3D, const TStereoSystemParams &params=TStereoSystemParams())</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">mrpt::vision::projectMatchedFeature</a> (const CFeaturePtr &leftFeat, const CFeaturePtr &rightFeat, <a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> &p3D, const TStereoSystemParams &params=TStereoSystemParams())</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">mrpt::vision::projectMatchedFeatures</a> (CMatchedFeatureList &mfList, const TStereoSystemParams &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">mrpt::vision::projectMatchedFeatures</a> (CFeatureList &leftList, CFeatureList &rightList, const TStereoSystemParams &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">mrpt::vision::StereoObs2BRObs</a> (const <a class="el" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html">CObservationStereoImages</a> &inObs, const vector< 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">mrpt::vision::StereoObs2BRObs</a> (const CMatchedFeatureList &inMatches, const <a class="el" href="namespacemrpt_1_1math.html#a58d0ee60eee38e990848ccb8b83e8338">CMatrixDouble33</a> &intrinsicParams, const double &baseline, const CPose3D &sensorPose, const vector< 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">mrpt::vision::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">mrpt::vision::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 poses::CPose3D &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>
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