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<a href="vision_2include_2mrpt_2vision_2utils_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028
<a name="l00029"></a>00029 <span class="preprocessor">#ifndef mrpt_vision_utils_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span><span class="preprocessor">#define mrpt_vision_utils_H</span>
<a name="l00031"></a>00031 <span class="preprocessor"></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_feature_8h.html">mrpt/vision/CFeature.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="_c_image_8h.html">mrpt/utils/CImage.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="base_2include_2mrpt_2math_2utils_8h.html">mrpt/math/utils.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_c_loadable_options_8h.html">mrpt/utils/CLoadableOptions.h</a>></span>
<a name="l00036"></a>00036 <span class="preprocessor">#include <<a class="code" href="_t_matching_pair_8h.html">mrpt/utils/TMatchingPair.h</a>></span>
<a name="l00037"></a>00037 <span class="preprocessor">#include <<a class="code" href="_c_pose3_d_8h.html">mrpt/poses/CPose3D.h</a>></span>
<a name="l00038"></a>00038 <span class="preprocessor">#include <<a class="code" href="_c_point2_d_8h.html">mrpt/poses/CPoint2D.h</a>></span>
<a name="l00039"></a>00039 <span class="preprocessor">#include <<a class="code" href="_c_point3_d_8h.html">mrpt/poses/CPoint3D.h</a>></span>
<a name="l00040"></a>00040
<a name="l00041"></a>00041 <span class="preprocessor">#include <<a class="code" href="vision_2include_2mrpt_2vision_2types_8h.html">mrpt/vision/types.h</a>></span>
<a name="l00042"></a>00042 <span class="preprocessor">#include <<a class="code" href="chessboard__camera__calib_8h.html">mrpt/vision/chessboard_camera_calib.h</a>></span>
<a name="l00043"></a>00043
<a name="l00044"></a>00044 <span class="preprocessor">#include <<a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html">mrpt/vision/link_pragmas.h</a>></span>
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="keyword">namespace </span>mrpt
<a name="l00047"></a>00047 {
<a name="l00048"></a>00048 <span class="keyword">namespace </span>slam
<a name="l00049"></a>00049 {
<a name="l00050"></a>00050 <span class="keyword">class </span>CObservationStereoImages;
<a name="l00051"></a>00051 <span class="keyword">class </span>CObservationBearingRange;
<a name="l00052"></a>00052 <span class="keyword">class </span>CLandmarksMap;
<a name="l00053"></a>00053 <span class="keyword">class </span>CObservationVisualLandmarks;
<a name="l00054"></a>00054 }
<a name="l00055"></a>00055 <span class="comment"></span>
<a name="l00056"></a>00056 <span class="comment"> /** Classes for computer vision, detectors, features, etc. \ingroup mrpt_vision_grp</span>
<a name="l00057"></a>00057 <span class="comment"> */</span>
<a name="l00058"></a>00058 <span class="keyword">namespace </span>vision
<a name="l00059"></a>00059 {
<a name="l00060"></a>00060 <span class="keyword">using</span> std::vector;
<a name="l00061"></a>00061 <span class="keyword">using namespace </span>mrpt::slam;
<a name="l00062"></a>00062 <span class="keyword">using namespace </span>mrpt::math;
<a name="l00063"></a>00063 <span class="keyword">using namespace </span>mrpt::utils;
<a name="l00064"></a>00064 <span class="comment"></span>
<a name="l00065"></a>00065 <span class="comment"> /** \addtogroup mrpt_vision_grp</span>
<a name="l00066"></a>00066 <span class="comment"> * @{ */</span>
<a name="l00067"></a>00067 <span class="comment"></span>
<a name="l00068"></a>00068 <span class="comment"> /** Computes the correlation between this image and another one, encapsulating the openCV function cvMatchTemplate</span>
<a name="l00069"></a>00069 <span class="comment"> * This implementation reduced computation time.</span>
<a name="l00070"></a>00070 <span class="comment"> * \param img [IN] The imput image. This function supports gray-scale (1 channel only) images.</span>
<a name="l00071"></a>00071 <span class="comment"> * \param patch_img [IN] The "patch" image, which must be equal, or smaller than "this" image. This function supports gray-scale (1 channel only) images.</span>
<a name="l00072"></a>00072 <span class="comment"> * \param x_max [OUT] The x coordinate where it was found the maximun cross correlation value.</span>
<a name="l00073"></a>00073 <span class="comment"> * \param y_max [OUT] The y coordinate where it was found the maximun cross correlation value.</span>
<a name="l00074"></a>00074 <span class="comment"> * \param max_val [OUT] The maximun value of cross correlation which we can find</span>
<a name="l00075"></a>00075 <span class="comment"> * \param x_search_ini [IN] The "x" coordinate of the search window.</span>
<a name="l00076"></a>00076 <span class="comment"> * \param y_search_ini [IN] The "y" coordinate of the search window.</span>
<a name="l00077"></a>00077 <span class="comment"> * \param x_search_size [IN] The width of the search window.</span>
<a name="l00078"></a>00078 <span class="comment"> * \param y_search_size [IN] The height of the search window.</span>
<a name="l00079"></a>00079 <span class="comment"> * Note: By default, the search area is the whole (this) image.</span>
<a name="l00080"></a>00080 <span class="comment"> * \sa cross_correlation</span>
<a name="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a>00082 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga76734611e12d95e2d1f825d0a8d7b2c9" title="Computes the correlation between this image and another one, encapsulating the openCV function cvMatc...">openCV_cross_correlation</a>(
<a name="l00083"></a>00083 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & img,
<a name="l00084"></a>00084 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & patch_img,
<a name="l00085"></a>00085 <span class="keywordtype">size_t</span> & x_max,
<a name="l00086"></a>00086 <span class="keywordtype">size_t</span> & y_max,
<a name="l00087"></a>00087 <span class="keywordtype">double</span> & max_val,
<a name="l00088"></a>00088 <span class="keywordtype">int</span> x_search_ini=-1,
<a name="l00089"></a>00089 <span class="keywordtype">int</span> y_search_ini=-1,
<a name="l00090"></a>00090 <span class="keywordtype">int</span> x_search_size=-1,
<a name="l00091"></a>00091 <span class="keywordtype">int</span> y_search_size=-1);
<a name="l00092"></a>00092 <span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment"> /** Invert an image using OpenCV function</span>
<a name="l00094"></a>00094 <span class="comment"> *</span>
<a name="l00095"></a>00095 <span class="comment"> */</span>
<a name="l00096"></a>00096 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga53129d1715497d147744fc65b74dd339" title="Invert an image using OpenCV function.">flip</a>(
<a name="l00097"></a>00097 <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & img);
<a name="l00098"></a>00098 <span class="comment"></span>
<a name="l00099"></a>00099 <span class="comment"> /** Extract a UNITARY 3D vector in the direction of a 3D point, given from its (x,y) pixels coordinates, and the camera intrinsic coordinates.</span>
<a name="l00100"></a>00100 <span class="comment"> * \param xy [IN] Pixels coordinates, from the top-left corner of the image.</span>
<a name="l00101"></a>00101 <span class="comment"> * \param A [IN] The 3x3 intrinsic parameters matrix for the camera.</span>
<a name="l00102"></a>00102 <span class="comment"> * \return The TPoint3D containing the output unitary vector.</span>
<a name="l00103"></a>00103 <span class="comment"> * \sa buildIntrinsicParamsMatrix, defaultIntrinsicParamsMatrix, TPixelCoordf</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a>00105 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#gae1bdfa0784cd25618e11bc8baedb81fd" title="Extract a UNITARY 3D vector in the direction of a 3D point, given from its (x,y) pixels coordinates...">pixelTo3D</a>(
<a name="l00106"></a>00106 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html" title="A pair (x,y) of pixel coordinates (subpixel resolution).">TPixelCoordf</a> & xy,
<a name="l00107"></a>00107 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble33</a> & A);
<a name="l00108"></a>00108 <span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"> /** Builds the intrinsic parameters matrix A from parameters:</span>
<a name="l00110"></a>00110 <span class="comment"> * \param focalLengthX [IN] The focal length, in X (horizontal) pixels</span>
<a name="l00111"></a>00111 <span class="comment"> * \param focalLengthY [IN] The focal length, in Y (vertical) pixels</span>
<a name="l00112"></a>00112 <span class="comment"> * \param centerX [IN] The image center, horizontal, in pixels</span>
<a name="l00113"></a>00113 <span class="comment"> * \param centerY [IN] The image center, vertical, in pixels</span>
<a name="l00114"></a>00114 <span class="comment"> *</span>
<a name="l00115"></a>00115 <span class="comment"> * <br>This method returns the matrix:</span>
<a name="l00116"></a>00116 <span class="comment"> <table></span>
<a name="l00117"></a>00117 <span class="comment"> <tr><td>f_x</td><td>0</td><td>cX</td> </tr></span>
<a name="l00118"></a>00118 <span class="comment"> <tr><td>0</td><td>f_y</td><td>cY</td> </tr></span>
<a name="l00119"></a>00119 <span class="comment"> <tr><td>0</td><td>0</td><td>1</td> </tr></span>
<a name="l00120"></a>00120 <span class="comment"> </table></span>
<a name="l00121"></a>00121 <span class="comment"> * See also the tutorial discussing the <a rhref="http://www.mrpt.org/Camera_Parameters">camera model parameters</a>.</span>
<a name="l00122"></a>00122 <span class="comment"> * \sa defaultIntrinsicParamsMatrix, pixelTo3D</span>
<a name="l00123"></a>00123 <span class="comment"> */</span>
<a name="l00124"></a>00124 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble33</a> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga75f4e50fe891900c856f3d4c39ca805b" title="Builds the intrinsic parameters matrix A from parameters:">buildIntrinsicParamsMatrix</a>(
<a name="l00125"></a>00125 <span class="keyword">const</span> <span class="keywordtype">double</span> focalLengthX,
<a name="l00126"></a>00126 <span class="keyword">const</span> <span class="keywordtype">double</span> focalLengthY,
<a name="l00127"></a>00127 <span class="keyword">const</span> <span class="keywordtype">double</span> centerX,
<a name="l00128"></a>00128 <span class="keyword">const</span> <span class="keywordtype">double</span> centerY);
<a name="l00129"></a>00129 <span class="comment"></span>
<a name="l00130"></a>00130 <span class="comment"> /** Returns the stored, default intrinsic params matrix for a given camera:</span>
<a name="l00131"></a>00131 <span class="comment"> * \param camIndex [IN] Posible values are listed next.</span>
<a name="l00132"></a>00132 <span class="comment"> * \param resolutionX [IN] The number of pixel columns</span>
<a name="l00133"></a>00133 <span class="comment"> * \param resolutionY [IN] The number of pixel rows</span>
<a name="l00134"></a>00134 <span class="comment"> *</span>
<a name="l00135"></a>00135 <span class="comment"> * The matrix is generated for the indicated camera resolution configuration.</span>
<a name="l00136"></a>00136 <span class="comment"> * The following table summarizes the current supported cameras and the values as</span>
<a name="l00137"></a>00137 <span class="comment"> * ratios of the corresponding horz. or vert. resolution:<br></span>
<a name="l00138"></a>00138 <span class="comment"></span>
<a name="l00139"></a>00139 <span class="comment"> <center><table></span>
<a name="l00140"></a>00140 <span class="comment"> <tr></span>
<a name="l00141"></a>00141 <span class="comment"> <td><center><b>camIndex</b></center></td></span>
<a name="l00142"></a>00142 <span class="comment"> <td><center><b>Manufacturer</b></center></td></span>
<a name="l00143"></a>00143 <span class="comment"> <td><center><b>Camera model</b></center></td></span>
<a name="l00144"></a>00144 <span class="comment"> <td><center><b>fx</b></center></td></span>
<a name="l00145"></a>00145 <span class="comment"> <td><center><b>fy</b></center></td></span>
<a name="l00146"></a>00146 <span class="comment"> <td><center><b>cx</b></center></td></span>
<a name="l00147"></a>00147 <span class="comment"> <td><center><b>cy</b></center></td></span>
<a name="l00148"></a>00148 <span class="comment"> </tr></span>
<a name="l00149"></a>00149 <span class="comment"></span>
<a name="l00150"></a>00150 <span class="comment"> <tr></span>
<a name="l00151"></a>00151 <span class="comment"> <td><center>0</center></td></span>
<a name="l00152"></a>00152 <span class="comment"> <td><center>Point Grey Research</center></td></span>
<a name="l00153"></a>00153 <span class="comment"> <td><center>Bumblebee</center></td></span>
<a name="l00154"></a>00154 <span class="comment"> <td><center>0.79345</center></td></span>
<a name="l00155"></a>00155 <span class="comment"> <td><center>1.05793</center></td></span>
<a name="l00156"></a>00156 <span class="comment"> <td><center>0.55662</center></td></span>
<a name="l00157"></a>00157 <span class="comment"> <td><center>0.52692</center></td></span>
<a name="l00158"></a>00158 <span class="comment"> </tr></span>
<a name="l00159"></a>00159 <span class="comment"></span>
<a name="l00160"></a>00160 <span class="comment"> <tr></span>
<a name="l00161"></a>00161 <span class="comment"> <td><center>1</center></td></span>
<a name="l00162"></a>00162 <span class="comment"> <td><center>Sony</center></td></span>
<a name="l00163"></a>00163 <span class="comment"> <td><center>???</center></td></span>
<a name="l00164"></a>00164 <span class="comment"> <td><center>0.95666094</center></td></span>
<a name="l00165"></a>00165 <span class="comment"> <td><center>1.3983423f</center></td></span>
<a name="l00166"></a>00166 <span class="comment"> <td><center>0.54626328f</center></td></span>
<a name="l00167"></a>00167 <span class="comment"> <td><center>0.4939191f</center></td></span>
<a name="l00168"></a>00168 <span class="comment"> </tr></span>
<a name="l00169"></a>00169 <span class="comment"> </table></span>
<a name="l00170"></a>00170 <span class="comment"> </center></span>
<a name="l00171"></a>00171 <span class="comment"></span>
<a name="l00172"></a>00172 <span class="comment"> * \sa buildIntrinsicParamsMatrix, pixelTo3D</span>
<a name="l00173"></a>00173 <span class="comment"> */</span>
<a name="l00174"></a>00174 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble33</a> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga6854cf65e2102db34841099588c4e107" title="Returns the stored, default intrinsic params matrix for a given camera:">defaultIntrinsicParamsMatrix</a>(
<a name="l00175"></a>00175 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> camIndex = 0,
<a name="l00176"></a>00176 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> resolutionX = 320,
<a name="l00177"></a>00177 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> resolutionY = 240 );
<a name="l00178"></a>00178 <span class="comment"></span>
<a name="l00179"></a>00179 <span class="comment"> /** Explore the feature list and removes features which are in the same coordinates</span>
<a name="l00180"></a>00180 <span class="comment"> * \param list [IN] The list of features.</span>
<a name="l00181"></a>00181 <span class="comment"> */</span>
<a name="l00182"></a>00182 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga283472c90efde179b76bba7f278da263" title="Explore the feature list and removes features which are in the same coordinates.">deleteRepeatedFeats</a>(
<a name="l00183"></a>00183 CFeatureList & list );
<a name="l00184"></a>00184 <span class="comment"></span>
<a name="l00185"></a>00185 <span class="comment"> /** Search for correspondences which are not in the same row and deletes them</span>
<a name="l00186"></a>00186 <span class="comment"> * \param leftList [IN/OUT] The left list of matched features.</span>
<a name="l00187"></a>00187 <span class="comment"> * \param rightList [IN/OUT] The right list of matched features.</span>
<a name="l00188"></a>00188 <span class="comment"> * \param threshold [IN] The tolerance value for the row checking: valid matched are within this threshold.</span>
<a name="l00189"></a>00189 <span class="comment"> */</span>
<a name="l00190"></a>00190 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#gadbb7002c4a2e832ff309c1eefad818ea" title="Search for correspondences which are not in the same row and deletes them.">rowChecking</a>(
<a name="l00191"></a>00191 CFeatureList & leftList,
<a name="l00192"></a>00192 CFeatureList & rightList,
<a name="l00193"></a>00193 <span class="keywordtype">float</span> threshold = 1.0);
<a name="l00194"></a>00194 <span class="comment"></span>
<a name="l00195"></a>00195 <span class="comment"> /** Computes the dispersion of the features in the image</span>
<a name="l00196"></a>00196 <span class="comment"> * \param list [IN] Input list of features</span>
<a name="l00197"></a>00197 <span class="comment"> * \param std [OUT] 2 element vector containing the standard deviations in the 'x' and 'y' coordinates.</span>
<a name="l00198"></a>00198 <span class="comment"> * \param mean [OUT] 2 element vector containing the mean in the 'x' and 'y' coordinates.</span>
<a name="l00199"></a>00199 <span class="comment"> */</span>
<a name="l00200"></a>00200 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga537c61afa2d0ef023376d933ba0c50fa" title="Computes the dispersion of the features in the image.">getDispersion</a>(
<a name="l00201"></a>00201 <span class="keyword">const</span> CFeatureList & list,
<a name="l00202"></a>00202 <a class="code" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> & std,
<a name="l00203"></a>00203 <a class="code" href="namespacemrpt.html#aa271572e3985202e030758bfd54a02e1">vector_float</a> & <a class="code" href="eigen__plugins_8h.html#a378ef7ee1218e4aa29b595c6e0f8ee4a" title="Computes the mean of the entire matrix.">mean</a> );
<a name="l00204"></a>00204 <span class="comment"></span>
<a name="l00205"></a>00205 <span class="comment"> /** Returns a new image where distortion has been removed.</span>
<a name="l00206"></a>00206 <span class="comment"> * \param A The 3x3 intrinsic parameters matrix</span>
<a name="l00207"></a>00207 <span class="comment"> * \param dist_coeffs The 1x4 (or 1x5) vector of distortion coefficients</span>
<a name="l00208"></a>00208 <span class="comment"> */</span>
<a name="l00209"></a><a class="code" href="group__mrpt__vision__grp.html#ga34408636ab4c6a218c6da6bd9bb51143">00209</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="group__mrpt__vision__grp.html#ga34408636ab4c6a218c6da6bd9bb51143" title="Returns a new image where distortion has been removed.">correctDistortion</a>(
<a name="l00210"></a>00210 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & in_img,
<a name="l00211"></a>00211 <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & out_img,
<a name="l00212"></a>00212 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble33</a> & A,
<a name="l00213"></a>00213 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1dynamicsize__vector.html" title="The base class of MRPT vectors, actually, Eigen column matrices of dynamic size with specialized cons...">vector_double</a> & dist_coeffs )
<a name="l00214"></a>00214 {
<a name="l00215"></a>00215 in_img.<a class="code" href="classmrpt_1_1utils_1_1_c_image.html#a543afd4be92f7c35ebe58c664ab82452" title="Rectify (un-distort) the image according to some camera parameters, and returns an output un-distorte...">rectifyImage</a>( out_img, A, dist_coeffs);
<a name="l00216"></a>00216 }
<a name="l00217"></a>00217
<a name="l00218"></a>00218 <span class="comment"></span>
<a name="l00219"></a>00219 <span class="comment"> /** Computes the mean squared distance between a set of 3D correspondences</span>
<a name="l00220"></a>00220 <span class="comment"> * ...</span>
<a name="l00221"></a>00221 <span class="comment"> */</span>
<a name="l00222"></a>00222 <span class="keywordtype">double</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#gae9ba8ad3c1fea073285a3a910e4dc153" title="Computes the mean squared distance between a set of 3D correspondences ...">computeMsd</a>(
<a name="l00223"></a>00223 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html" title="A list of TMatchingPair.">TMatchingPairList</a> & list,
<a name="l00224"></a>00224 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">poses::CPose3D</a> & Rt );
<a name="l00225"></a>00225 <span class="comment"></span>
<a name="l00226"></a>00226 <span class="comment"> /** Transform two clouds of 3D points into a matched list of points</span>
<a name="l00227"></a>00227 <span class="comment"> * ...</span>
<a name="l00228"></a>00228 <span class="comment"> */</span>
<a name="l00229"></a>00229 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga97bf65f8894c31cb7b199c3e0c631404" title="Transform two clouds of 3D points into a matched list of points ...">cloudsToMatchedList</a>(
<a name="l00230"></a>00230 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_visual_landmarks.html" title="Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera...">CObservationVisualLandmarks</a> & cloud1,
<a name="l00231"></a>00231 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_visual_landmarks.html" title="Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera...">CObservationVisualLandmarks</a> & cloud2,
<a name="l00232"></a>00232 <a class="code" href="classmrpt_1_1utils_1_1_t_matching_pair_list.html" title="A list of TMatchingPair.">TMatchingPairList</a> & outList);
<a name="l00233"></a>00233 <span class="comment"></span>
<a name="l00234"></a>00234 <span class="comment"> /** Computes the main orientation of a set of points with an image (for using in SIFT-based algorithms)</span>
<a name="l00235"></a>00235 <span class="comment"> * \param image [IN] The input image.</span>
<a name="l00236"></a>00236 <span class="comment"> * \param x [IN] A vector containing the 'x' coordinates of the image points.</span>
<a name="l00237"></a>00237 <span class="comment"> * \param y [IN] A vector containing the 'y' coordinates of the image points.</span>
<a name="l00238"></a>00238 <span class="comment"> * \return The main orientation of the image point.</span>
<a name="l00239"></a>00239 <span class="comment"> */</span>
<a name="l00240"></a>00240 <span class="keywordtype">float</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga8bb4c04a6114aa09b09eb2fa7a66e131" title="Computes the main orientation of a set of points with an image (for using in SIFT-based algorithms)...">computeMainOrientation</a>(
<a name="l00241"></a>00241 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & image,
<a name="l00242"></a>00242 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> x,
<a name="l00243"></a>00243 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a> );
<a name="l00244"></a>00244 <span class="comment"></span>
<a name="l00245"></a>00245 <span class="comment"> /** Normalizes the brigthness and contrast of an image by setting its mean value to zero and its standard deviation to unit.</span>
<a name="l00246"></a>00246 <span class="comment"> * \param image [IN] The input image.</span>
<a name="l00247"></a>00247 <span class="comment"> * \param nimage [OUTPUT] The new normalized image.</span>
<a name="l00248"></a>00248 <span class="comment"> */</span>
<a name="l00249"></a>00249 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga78b70d757600704d6cd9a3ca37b838e8" title="Normalizes the brigthness and contrast of an image by setting its mean value to zero and its standard...">normalizeImage</a>(
<a name="l00250"></a>00250 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & image,
<a name="l00251"></a>00251 <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & nimage );
<a name="l00252"></a>00252 <span class="comment"></span>
<a name="l00253"></a>00253 <span class="comment"> /** Find the matches between two lists of features which must be of the same type.</span>
<a name="l00254"></a>00254 <span class="comment"> * \param list1 [IN] One list.</span>
<a name="l00255"></a>00255 <span class="comment"> * \param list2 [IN] Other list.</span>
<a name="l00256"></a>00256 <span class="comment"> * \param matches [OUT] A vector of pairs of correspondences.</span>
<a name="l00257"></a>00257 <span class="comment"> * \param options [IN] A struct containing matching options</span>
<a name="l00258"></a>00258 <span class="comment"> * \return Returns the number of matched pairs of features.</span>
<a name="l00259"></a>00259 <span class="comment"> */</span>
<a name="l00260"></a>00260 <span class="keywordtype">size_t</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#gad073bd2b1235df6a75e73a72df701204" title="Find the matches between two lists of features which must be of the same type.">matchFeatures</a>(
<a name="l00261"></a>00261 <span class="keyword">const</span> CFeatureList & list1,
<a name="l00262"></a>00262 <span class="keyword">const</span> CFeatureList & list2,
<a name="l00263"></a>00263 CMatchedFeatureList & matches,
<a name="l00264"></a>00264 <span class="keyword">const</span> TMatchingOptions & options = TMatchingOptions(),
<a name="l00265"></a>00265 <span class="keyword">const</span> TStereoSystemParams & params = TStereoSystemParams() );
<a name="l00266"></a>00266 <span class="comment"></span>
<a name="l00267"></a>00267 <span class="comment"> /** Calculates the Sum of Absolutes Differences (range [0,1]) between two patches. Both patches must have the same size.</span>
<a name="l00268"></a>00268 <span class="comment"> * \param mList [IN] The list of matched features.</span>
<a name="l00269"></a>00269 <span class="comment"> * \param mask1 [OUT] The output mask for left features.</span>
<a name="l00270"></a>00270 <span class="comment"> * \param mask2 [OUT] The output mask for right features.</span>
<a name="l00271"></a>00271 <span class="comment"> * \param wSize [IN] The value of the masking window for each features.</span>
<a name="l00272"></a>00272 <span class="comment"> * \exception if mList.size() = 0</span>
<a name="l00273"></a>00273 <span class="comment"> */</span>
<a name="l00274"></a>00274 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga1d6950fc414d2b15fb0ecb349a84098a" title="Calculates the Sum of Absolutes Differences (range [0,1]) between two patches.">generateMask</a>(
<a name="l00275"></a>00275 <span class="keyword">const</span> CMatchedFeatureList & mList,
<a name="l00276"></a>00276 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template.html" title="This template class provides the basic functionality for a general 2D any-size, resizable container o...">CMatrixBool</a> & mask1,
<a name="l00277"></a>00277 <a class="code" href="classmrpt_1_1math_1_1_c_matrix_template.html" title="This template class provides the basic functionality for a general 2D any-size, resizable container o...">CMatrixBool</a> & mask2,
<a name="l00278"></a>00278 <span class="keywordtype">int</span> wSize = 10 );
<a name="l00279"></a>00279 <span class="comment"></span>
<a name="l00280"></a>00280 <span class="comment"> /** Calculates the Sum of Absolutes Differences (range [0,1]) between two patches. Both patches must have the same size.</span>
<a name="l00281"></a>00281 <span class="comment"> * \param patch1 [IN] One patch.</span>
<a name="l00282"></a>00282 <span class="comment"> * \param patch2 [IN] The other patch.</span>
<a name="l00283"></a>00283 <span class="comment"> * \return The value of computed SAD normalized to [0,1]</span>
<a name="l00284"></a>00284 <span class="comment"> */</span>
<a name="l00285"></a>00285 <span class="keywordtype">double</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga91460061069d5c5223ca96e997f0023a" title="Calculates the Sum of Absolutes Differences (range [0,1]) between two patches.">computeSAD</a>(
<a name="l00286"></a>00286 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & patch1,
<a name="l00287"></a>00287 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & patch2 );
<a name="l00288"></a>00288 <span class="comment"></span>
<a name="l00289"></a>00289 <span class="comment"> /** Draw rectangles around each of the features on a copy of the input image.</span>
<a name="l00290"></a>00290 <span class="comment"> * \param inImg [IN] The input image where to draw the features.</span>
<a name="l00291"></a>00291 <span class="comment"> * \param theList [IN] The list of features.</span>
<a name="l00292"></a>00292 <span class="comment"> * \param outImg [OUT] The copy of the input image with the marked features.</span>
<a name="l00293"></a>00293 <span class="comment"> */</span>
<a name="l00294"></a>00294 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#gaa6de04e12e3fad427c0e10ab6f770bcf" title="Draw rectangles around each of the features on a copy of the input image.">addFeaturesToImage</a>(
<a name="l00295"></a>00295 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & inImg,
<a name="l00296"></a>00296 <span class="keyword">const</span> CFeatureList & theList,
<a name="l00297"></a>00297 <a class="code" href="classmrpt_1_1utils_1_1_c_image.html" title="A class for storing images as grayscale or RGB bitmaps.">CImage</a> & outImg );
<a name="l00298"></a>00298 <span class="comment"></span>
<a name="l00299"></a>00299 <span class="comment"> /** Computes the 3D position of a set of matched features from their coordinates in the images. The list have to be matched in order, e.g. leftList[0]<->rightList[0]</span>
<a name="l00300"></a>00300 <span class="comment"> * \param leftList [IN] The left list of features.</span>
<a name="l00301"></a>00301 <span class="comment"> * \param rightList [IN] The right list of features.</span>
<a name="l00302"></a>00302 <span class="comment"> * \param vP3D [OUT] A vector of TPoint3D containing the 3D positions of the projected points.</span>
<a name="l00303"></a>00303 <span class="comment"> * \param params [IN] The intrinsic and extrinsic parameters of the stereo pair.</span>
<a name="l00304"></a>00304 <span class="comment"> */</span>
<a name="l00305"></a>00305 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#gad219474cf31289ceec53218a2accc73e" title="Computes the 3D position of a set of matched features from their coordinates in the images...">projectMatchedFeatures</a>(
<a name="l00306"></a>00306 <span class="keyword">const</span> CFeatureList & leftList,
<a name="l00307"></a>00307 <span class="keyword">const</span> CFeatureList & rightList,
<a name="l00308"></a>00308 vector<TPoint3D> & vP3D,
<a name="l00309"></a>00309 <span class="keyword">const</span> TStereoSystemParams & params = TStereoSystemParams() );
<a name="l00310"></a>00310 <span class="comment"></span>
<a name="l00311"></a>00311 <span class="comment"> /** Computes the 3D position of a particular matched feature.</span>
<a name="l00312"></a>00312 <span class="comment"> * \param leftList [IN] The left feature.</span>
<a name="l00313"></a>00313 <span class="comment"> * \param rightList [IN] The right feature.</span>
<a name="l00314"></a>00314 <span class="comment"> * \param vP3D [OUT] The 3D position of the projected point.</span>
<a name="l00315"></a>00315 <span class="comment"> * \param params [IN] The intrinsic and extrinsic parameters of the stereo pair.</span>
<a name="l00316"></a>00316 <span class="comment"> */</span>
<a name="l00317"></a>00317 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga30399c3913ad2700d9097dfdffd75cc8" title="Computes the 3D position of a particular matched feature.">projectMatchedFeature</a>(
<a name="l00318"></a>00318 <span class="keyword">const</span> CFeaturePtr & leftFeat,
<a name="l00319"></a>00319 <span class="keyword">const</span> CFeaturePtr & rightFeat,
<a name="l00320"></a>00320 <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> & p3D,
<a name="l00321"></a>00321 <span class="keyword">const</span> TStereoSystemParams & params = TStereoSystemParams() );
<a name="l00322"></a>00322 <span class="comment"></span>
<a name="l00323"></a>00323 <span class="comment"> /** Project a list of matched features into the 3D space, using the provided parameters of the stereo system</span>
<a name="l00324"></a>00324 <span class="comment"> * \param mfList [IN/OUT] The list of matched features. Features which yields a 3D point outside the area defined in TStereoSystemParams are removed from the lists.</span>
<a name="l00325"></a>00325 <span class="comment"> * \param param [IN] The parameters of the stereo system.</span>
<a name="l00326"></a>00326 <span class="comment"> * \param landmarks [OUT] A map containing the projected landmarks.</span>
<a name="l00327"></a>00327 <span class="comment"> * \sa TStereoSystemParams, CLandmarksMap</span>
<a name="l00328"></a>00328 <span class="comment"> */</span>
<a name="l00329"></a>00329 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#gad219474cf31289ceec53218a2accc73e" title="Computes the 3D position of a set of matched features from their coordinates in the images...">projectMatchedFeatures</a>(
<a name="l00330"></a>00330 CMatchedFeatureList & mfList,
<a name="l00331"></a>00331 <span class="keyword">const</span> TStereoSystemParams & param,
<a name="l00332"></a>00332 <a class="code" href="classmrpt_1_1slam_1_1_c_landmarks_map.html" title="A class for storing a map of 3D probabilistic landmarks.">CLandmarksMap</a> & landmarks );
<a name="l00333"></a>00333 <span class="comment"></span>
<a name="l00334"></a>00334 <span class="comment"> /** Project a pair of feature lists into the 3D space, using the provided options for the stereo system. The matches must be in order,</span>
<a name="l00335"></a>00335 <span class="comment"> * i.e. leftList[0] corresponds to rightList[0] and so on. Features which yields a 3D point outside the area defined in TStereoSystemParams are removed from the lists.</span>
<a name="l00336"></a>00336 <span class="comment"> * \param leftList [IN/OUT] The left list of matched features.</span>
<a name="l00337"></a>00337 <span class="comment"> * \param rightList [IN/OUT] The right list of matched features.</span>
<a name="l00338"></a>00338 <span class="comment"> * \param param [IN] The options of the stereo system.</span>
<a name="l00339"></a>00339 <span class="comment"> * \param landmarks (OUT] A map containing the projected landmarks.</span>
<a name="l00340"></a>00340 <span class="comment"> * \sa TStereoSystemParams, CLandmarksMap</span>
<a name="l00341"></a>00341 <span class="comment"> */</span>
<a name="l00342"></a>00342 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#gad219474cf31289ceec53218a2accc73e" title="Computes the 3D position of a set of matched features from their coordinates in the images...">projectMatchedFeatures</a>(
<a name="l00343"></a>00343 CFeatureList & leftList,
<a name="l00344"></a>00344 CFeatureList & rightList,
<a name="l00345"></a>00345 <span class="keyword">const</span> TStereoSystemParams & param,
<a name="l00346"></a>00346 <a class="code" href="classmrpt_1_1slam_1_1_c_landmarks_map.html" title="A class for storing a map of 3D probabilistic landmarks.">CLandmarksMap</a> & landmarks );
<a name="l00347"></a>00347 <span class="comment"></span>
<a name="l00348"></a>00348 <span class="comment"> /** Converts a stereo images observation into a bearing and range observation.</span>
<a name="l00349"></a>00349 <span class="comment"> \param inObs [IN] The input stereo images observation.</span>
<a name="l00350"></a>00350 <span class="comment"> \param sg [IN] The sigma of the row, col, and disparity variables involved in the feature detection.</span>
<a name="l00351"></a>00351 <span class="comment"> \param outObs [OUT] The output bearing and range observation (including covariances).</span>
<a name="l00352"></a>00352 <span class="comment"> */</span>
<a name="l00353"></a>00353 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#gae2f5e513a60be2eae856a942a7d1c4c7" title="Converts a stereo images observation into a bearing and range observation.">StereoObs2BRObs</a>(
<a name="l00354"></a>00354 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html" title="Observation class for either a pair of left+right or left+disparity images from a stereo camera...">CObservationStereoImages</a> & inObs,
<a name="l00355"></a>00355 <span class="keyword">const</span> vector<double> & sg,
<a name="l00356"></a>00356 <a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html" title="This observation represents a number of range-bearing value pairs, each one for a detected landmark...">CObservationBearingRange</a> & outObs );
<a name="l00357"></a>00357 <span class="comment"></span>
<a name="l00358"></a>00358 <span class="comment"> /** Converts a matched feature list into a bearing and range observation (some of the stereo camera system must be provided).</span>
<a name="l00359"></a>00359 <span class="comment"> \param inMatches [IN] The input list of matched features.</span>
<a name="l00360"></a>00360 <span class="comment"> \param intrinsicParams [IN] The intrisic params of the reference (left) camera of the stereo system.</span>
<a name="l00361"></a>00361 <span class="comment"> \param baseline [IN] The distance among the X axis of the right camera wrt the reference (left) camera.</span>
<a name="l00362"></a>00362 <span class="comment"> \param sg [IN] The sigma of the row, col, and disparity variables involved in the feature detection.</span>
<a name="l00363"></a>00363 <span class="comment"> \param outObs [OUT] The output bearing and range observation (including covariances).</span>
<a name="l00364"></a>00364 <span class="comment"> */</span>
<a name="l00365"></a>00365 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#gae2f5e513a60be2eae856a942a7d1c4c7" title="Converts a stereo images observation into a bearing and range observation.">StereoObs2BRObs</a>(
<a name="l00366"></a>00366 <span class="keyword">const</span> CMatchedFeatureList & inMatches,
<a name="l00367"></a>00367 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_c_matrix_fixed_numeric.html">CMatrixDouble33</a> & intrinsicParams,
<a name="l00368"></a>00368 <span class="keyword">const</span> <span class="keywordtype">double</span> & baseline,
<a name="l00369"></a>00369 <span class="keyword">const</span> CPose3D & sensorPose,
<a name="l00370"></a>00370 <span class="keyword">const</span> vector<double> & sg,
<a name="l00371"></a>00371 <a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html" title="This observation represents a number of range-bearing value pairs, each one for a detected landmark...">CObservationBearingRange</a> & outObs );
<a name="l00372"></a>00372 <span class="comment"></span>
<a name="l00373"></a>00373 <span class="comment"> /** Converts a CObservationVisualLandmarks into a bearing and range observation (without any covariances). Fields of view are not computed.</span>
<a name="l00374"></a>00374 <span class="comment"> \param inObs [IN] The input observation.</span>
<a name="l00375"></a>00375 <span class="comment"> \param sg [IN] The sigma of the row, col, and disparity variables involved in the feature detection.</span>
<a name="l00376"></a>00376 <span class="comment"> \param outObs [OUT] The output bearing and range observation.</span>
<a name="l00377"></a>00377 <span class="comment"> */</span>
<a name="l00378"></a>00378 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#gae2f5e513a60be2eae856a942a7d1c4c7" title="Converts a stereo images observation into a bearing and range observation.">StereoObs2BRObs</a>(
<a name="l00379"></a>00379 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_stereo_images.html" title="Observation class for either a pair of left+right or left+disparity images from a stereo camera...">CObservationStereoImages</a> & inObs,
<a name="l00380"></a>00380 <span class="keyword">const</span> vector<double> & sg,
<a name="l00381"></a>00381 <a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html" title="This observation represents a number of range-bearing value pairs, each one for a detected landmark...">CObservationBearingRange</a> & outObs );
<a name="l00382"></a>00382 <span class="comment"></span>
<a name="l00383"></a>00383 <span class="comment"> /** Converts a CObservationVisualLandmarks into a bearing and range observation (without any covariances). Fields of view are not computed.</span>
<a name="l00384"></a>00384 <span class="comment"> \param inObs [IN] The input observation.</span>
<a name="l00385"></a>00385 <span class="comment"> \param outObs [OUT] The output bearing and range observation.</span>
<a name="l00386"></a>00386 <span class="comment"> */</span>
<a name="l00387"></a>00387 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#gae2f5e513a60be2eae856a942a7d1c4c7" title="Converts a stereo images observation into a bearing and range observation.">StereoObs2BRObs</a>(
<a name="l00388"></a>00388 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1slam_1_1_c_observation_visual_landmarks.html" title="Declares a class derived from "CObservation" that stores a Landmarks Map as seen from a stereo camera...">CObservationVisualLandmarks</a> & inObs,
<a name="l00389"></a>00389 <a class="code" href="classmrpt_1_1slam_1_1_c_observation_bearing_range.html" title="This observation represents a number of range-bearing value pairs, each one for a detected landmark...">CObservationBearingRange</a> & outObs );
<a name="l00390"></a>00390 <span class="comment"></span>
<a name="l00391"></a>00391 <span class="comment"> /** 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.</span>
<a name="l00392"></a>00392 <span class="comment"> \param cam1, cam2 [IN] The pair of involved cameras</span>
<a name="l00393"></a>00393 <span class="comment"> \param rightCameraPose [IN] The change in pose of the second camera wrt the first one</span>
<a name="l00394"></a>00394 <span class="comment"> \param outMap1x,outMap1y [OUT] The x-and-y maps corresponding to cam1 (should be converted to *cv::Mat)</span>
<a name="l00395"></a>00395 <span class="comment"> \param outMap2x,outMap2y [OUT] The x-and-y maps corresponding to cam2 (should be converted to *cv::Mat)</span>
<a name="l00396"></a>00396 <span class="comment"> */</span>
<a name="l00397"></a>00397 <span class="keywordtype">void</span> <a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="group__mrpt__vision__grp.html#ga13bd323aaefe18e181cad689468a113f" title="Computes a pair of x-and-y maps for stereo rectification from a pair of cameras and the relative pose...">computeStereoRectificationMaps</a>(
<a name="l00398"></a>00398 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">TCamera</a> & cam1,
<a name="l00399"></a>00399 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_t_camera.html" title="Structure to hold the parameters of a pinhole camera model.">TCamera</a> & cam2,
<a name="l00400"></a>00400 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">poses::CPose3D</a> & rightCameraPose,
<a name="l00401"></a>00401 <span class="keywordtype">void</span> *outMap1x,
<a name="l00402"></a>00402 <span class="keywordtype">void</span> *outMap1y,
<a name="l00403"></a>00403 <span class="keywordtype">void</span> *outMap2x,
<a name="l00404"></a>00404 <span class="keywordtype">void</span> *outMap2y );
<a name="l00405"></a>00405
<a name="l00406"></a>00406 <span class="comment"></span>
<a name="l00407"></a>00407 <span class="comment"> /** @} */</span> <span class="comment">// end of grouping</span>
<a name="l00408"></a>00408
<a name="l00409"></a>00409 } <span class="comment">// end-namespace-vision</span>
<a name="l00410"></a>00410 } <span class="comment">// end-namespace-mrpt</span>
<a name="l00411"></a>00411
<a name="l00412"></a>00412
<a name="l00413"></a>00413 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
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