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<div class="title">CFeatureExtraction.h</div> </div>
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<a href="_c_feature_extraction_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 <span class="preprocessor">#ifndef CFeatureExtraction_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define CFeatureExtraction_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_image_8h.html">mrpt/utils/CImage.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="_c_tic_tac_8h.html">mrpt/utils/CTicTac.h</a>></span>
<a name="l00033"></a>00033 <span class="preprocessor">#include <<a class="code" href="vision_2include_2mrpt_2vision_2utils_8h.html">mrpt/vision/utils.h</a>></span>
<a name="l00034"></a>00034 <span class="preprocessor">#include <<a class="code" href="_c_feature_8h.html">mrpt/vision/CFeature.h</a>></span>
<a name="l00035"></a>00035 <span class="preprocessor">#include <<a class="code" href="_t_simple_feature_8h.html">mrpt/vision/TSimpleFeature.h</a>></span>
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="keyword">namespace </span>mrpt
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">namespace </span>vision
<a name="l00040"></a>00040 {<span class="comment"></span>
<a name="l00041"></a>00041 <span class="comment"> /** The central class from which images can be analyzed in search of different kinds of interest points and descriptors computed for them.</span>
<a name="l00042"></a>00042 <span class="comment"> * To extract features from an image, create an instance of CFeatureExtraction,</span>
<a name="l00043"></a>00043 <span class="comment"> * fill out its CFeatureExtraction::options field, including the algorithm to use (see</span>
<a name="l00044"></a>00044 <span class="comment"> * CFeatureExtraction::TOptions::featsType), and call CFeatureExtraction::detectFeatures.</span>
<a name="l00045"></a>00045 <span class="comment"> * This will return a set of features of the class mrpt::vision::CFeature, which include</span>
<a name="l00046"></a>00046 <span class="comment"> * details for each interest point as well as the desired descriptors and/or patches.</span>
<a name="l00047"></a>00047 <span class="comment"> *</span>
<a name="l00048"></a>00048 <span class="comment"> * By default, a 21x21 patch is extracted for each detected feature. If the patch is not needed,</span>
<a name="l00049"></a>00049 <span class="comment"> * set patchSize to 0 in CFeatureExtraction::options</span>
<a name="l00050"></a>00050 <span class="comment"> *</span>
<a name="l00051"></a>00051 <span class="comment"> * The implemented <b>detection</b> algorithms are (see CFeatureExtraction::TOptions::featsType):</span>
<a name="l00052"></a>00052 <span class="comment"> * - KLT (Kanade-Lucas-Tomasi): A detector (no descriptor vector).</span>
<a name="l00053"></a>00053 <span class="comment"> * - Harris: A detector (no descriptor vector).</span>
<a name="l00054"></a>00054 <span class="comment"> * - BCD (Binary Corner Detector): A detector (no descriptor vector) (Not implemented yet).</span>
<a name="l00055"></a>00055 <span class="comment"> * - SIFT: An implementation of the SIFT detector and descriptor. The implemention may be selected with CFeatureExtraction::TOptions::SIFTOptions::implementation.</span>
<a name="l00056"></a>00056 <span class="comment"> * - SURF: OpenCV's implementation of SURF detector and descriptor.</span>
<a name="l00057"></a>00057 <span class="comment"> * - The FAST feature detector (OpenCV's implementation)</span>
<a name="l00058"></a>00058 <span class="comment"> * - The FASTER (9,10,12) detectors (Edward Rosten's libcvd implementation optimized for SSE2).</span>
<a name="l00059"></a>00059 <span class="comment"> *</span>
<a name="l00060"></a>00060 <span class="comment"> * Additionally, given a list of interest points onto an image, the following</span>
<a name="l00061"></a>00061 <span class="comment"> * <b>descriptors</b> can be computed for each point by calling CFeatureExtraction::computeDescriptors :</span>
<a name="l00062"></a>00062 <span class="comment"> * - SIFT descriptor (Lowe's descriptors).</span>
<a name="l00063"></a>00063 <span class="comment"> * - SURF descriptor (OpenCV's implementation - Requires OpenCV 1.1.0 from SVN or later).</span>
<a name="l00064"></a>00064 <span class="comment"> * - Intensity-domain spin images (SpinImage): Creates a vector descriptor with the 2D histogram as a single row.</span>
<a name="l00065"></a>00065 <span class="comment"> * - A circular patch in polar coordinates (Polar images): The matrix descriptor is a 2D polar image centered at the interest point.</span>
<a name="l00066"></a>00066 <span class="comment"> * - A log-polar image patch (Log-polar images): The matrix descriptor is the 2D log-polar image centered at the interest point.</span>
<a name="l00067"></a>00067 <span class="comment"> *</span>
<a name="l00068"></a>00068 <span class="comment"> *</span>
<a name="l00069"></a>00069 <span class="comment"> * Apart from the normal entry point \a detectFeatures(), these other low-level functions are provided for convenience:</span>
<a name="l00070"></a>00070 <span class="comment"> * -</span>
<a name="l00071"></a>00071 <span class="comment"> *</span>
<a name="l00072"></a>00072 <span class="comment"> * \note The descriptor "Intensity-domain spin images" is described in "A sparse texture representation using affine-invariant regions", S Lazebnik, C Schmid, J Ponce, 2003 IEEE Computer Society Conference on Computer Vision.</span>
<a name="l00073"></a>00073 <span class="comment"> * \sa mrpt::vision::CFeature</span>
<a name="l00074"></a>00074 <span class="comment"> * \ingroup mrptvision_features</span>
<a name="l00075"></a>00075 <span class="comment"> */</span>
<a name="l00076"></a>00076 <span class="keyword">class </span><a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> CFeatureExtraction
<a name="l00077"></a>00077 {
<a name="l00078"></a>00078 <span class="keyword">public</span>:
<a name="l00079"></a><a class="code" href="classmrpt_1_1vision_1_1_c_feature_extraction.html#a76b67f8b3d01c9062c6a6230ab2d3084">00079</a> <span class="keyword">enum</span> <a class="code" href="classmrpt_1_1vision_1_1_c_feature_extraction.html#a76b67f8b3d01c9062c6a6230ab2d3084">TSIFTImplementation</a>
<a name="l00080"></a>00080 {
<a name="l00081"></a><a class="code" href="classmrpt_1_1vision_1_1_c_feature_extraction.html#a76b67f8b3d01c9062c6a6230ab2d3084ada9f89ce52ea2f8a29c274762943b752">00081</a> LoweBinary = 0,
<a name="l00082"></a><a class="code" href="classmrpt_1_1vision_1_1_c_feature_extraction.html#a76b67f8b3d01c9062c6a6230ab2d3084a08585180a97a342efd2cfded845932fb">00082</a> <a class="code" href="classmrpt_1_1vision_1_1_c_feature_extraction.html#a76b67f8b3d01c9062c6a6230ab2d3084a08585180a97a342efd2cfded845932fb">CSBinary</a>,
<a name="l00083"></a><a class="code" href="classmrpt_1_1vision_1_1_c_feature_extraction.html#a76b67f8b3d01c9062c6a6230ab2d3084a2892c19d9b23a19804c7b964adf18f6b">00083</a> <a class="code" href="classmrpt_1_1vision_1_1_c_feature_extraction.html#a76b67f8b3d01c9062c6a6230ab2d3084a2892c19d9b23a19804c7b964adf18f6b">VedaldiBinary</a>,
<a name="l00084"></a><a class="code" href="classmrpt_1_1vision_1_1_c_feature_extraction.html#a76b67f8b3d01c9062c6a6230ab2d3084aa6fedc8b9946ea67a601976fa11411b9">00084</a> <a class="code" href="classmrpt_1_1vision_1_1_c_feature_extraction.html#a76b67f8b3d01c9062c6a6230ab2d3084aa6fedc8b9946ea67a601976fa11411b9">Hess</a>,
<a name="l00085"></a><a class="code" href="classmrpt_1_1vision_1_1_c_feature_extraction.html#a76b67f8b3d01c9062c6a6230ab2d3084a62f7fb9cd79fdf2d336f3f5ea524349f">00085</a> OpenCV
<a name="l00086"></a>00086 };
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment"> /** The set of parameters for all the detectors & descriptor algorithms */</span>
<a name="l00089"></a>00089 <span class="keyword">struct </span><a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> TOptions : <span class="keyword">public</span> utils::<a class="code" href="classmrpt_1_1utils_1_1_c_loadable_options.html" title="This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...">CLoadableOptions</a>
<a name="l00090"></a>00090 {<span class="comment"></span>
<a name="l00091"></a>00091 <span class="comment"> /** Initalizer</span>
<a name="l00092"></a>00092 <span class="comment"> */</span>
<a name="l00093"></a>00093 TOptions(<span class="keyword">const</span> <a class="code" href="group__mrpt__vision__grp.html#ga3a5b54ab814bafc8bb108e37bbee4e19" title="Types of features - This means that the point has been detected with this algorithm, which is independent of additional descriptors a feature may also have.">TFeatureType</a> featsType = <a class="code" href="group__mrpt__vision__grp.html#gga3a5b54ab814bafc8bb108e37bbee4e19af521d70dbb18c7c919297ac034645d4e" title="Kanade-Lucas-Tomasi feature [SHI'94].">featKLT</a>);
<a name="l00094"></a>00094 <span class="comment"></span>
<a name="l00095"></a>00095 <span class="comment"> /** See utils::CLoadableOptions</span>
<a name="l00096"></a>00096 <span class="comment"> */</span>
<a name="l00097"></a>00097 <span class="keywordtype">void</span> loadFromConfigFile(
<a name="l00098"></a>00098 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1utils_1_1_c_config_file_base.html" title="This class allows loading and storing values and vectors of different types from a configuration text...">mrpt::utils::CConfigFileBase</a> &source,
<a name="l00099"></a>00099 <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &section);
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment"> /** See utils::CLoadableOptions</span>
<a name="l00102"></a>00102 <span class="comment"> */</span>
<a name="l00103"></a>00103 <span class="keywordtype">void</span> dumpToTextStream(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> &out) <span class="keyword">const</span>;
<a name="l00104"></a>00104 <span class="comment"></span>
<a name="l00105"></a>00105 <span class="comment"> /** Type of the extracted features</span>
<a name="l00106"></a>00106 <span class="comment"> */</span>
<a name="l00107"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html#aad4ab0c925bc880dd5672fe7d0a727bb">00107</a> <a class="code" href="group__mrpt__vision__grp.html#ga3a5b54ab814bafc8bb108e37bbee4e19" title="Types of features - This means that the point has been detected with this algorithm, which is independent of additional descriptors a feature may also have.">TFeatureType</a> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html#aad4ab0c925bc880dd5672fe7d0a727bb" title="Type of the extracted features.">featsType</a>;
<a name="l00108"></a>00108 <span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"> /** Size of the patch to extract, or 0 if no patch is desired (default=21).</span>
<a name="l00110"></a>00110 <span class="comment"> */</span>
<a name="l00111"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html#a48c6c50d54c3463012484e9cb79aadf6">00111</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html#a48c6c50d54c3463012484e9cb79aadf6" title="Size of the patch to extract, or 0 if no patch is desired (default=21).">patchSize</a>;
<a name="l00112"></a>00112 <span class="comment"></span>
<a name="l00113"></a>00113 <span class="comment"> /** Whether to use a mask for determining the regions where not to look for keypoints (default=false).</span>
<a name="l00114"></a>00114 <span class="comment"> */</span>
<a name="l00115"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html#a91c6149a2596f3fe8780bbfb406b366d">00115</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html#a91c6149a2596f3fe8780bbfb406b366d" title="Whether to use a mask for determining the regions where not to look for keypoints (default=false)...">useMask</a>;
<a name="l00116"></a>00116 <span class="comment"></span>
<a name="l00117"></a>00117 <span class="comment"> /** Whether to add the found features to the input feature list or clear it before adding them (default=false).</span>
<a name="l00118"></a>00118 <span class="comment"> */</span>
<a name="l00119"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html#a6ebf5a2670ca57fcbf7bd4225050141a">00119</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html#a6ebf5a2670ca57fcbf7bd4225050141a" title="Whether to add the found features to the input feature list or clear it before adding them (default=f...">addNewFeatures</a>;
<a name="l00120"></a>00120 <span class="comment"></span>
<a name="l00121"></a>00121 <span class="comment"> /** Indicates if subpixel accuracy is desired for the extracted points (only applicable to KLT and Harris features)</span>
<a name="l00122"></a>00122 <span class="comment"> */</span>
<a name="l00123"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html#addb0d5fa5d8cb663900bf620876a2ccd">00123</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html#addb0d5fa5d8cb663900bf620876a2ccd" title="Indicates if subpixel accuracy is desired for the extracted points (only applicable to KLT and Harris...">FIND_SUBPIXEL</a>;
<a name="l00124"></a>00124 <span class="comment"></span>
<a name="l00125"></a>00125 <span class="comment"> /** KLT Options */</span>
<a name="l00126"></a>00126 <span class="keyword">struct </span><a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_k_l_t_options.html" title="KLT Options.">TKLTOptions</a>
<a name="l00127"></a>00127 {
<a name="l00128"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_k_l_t_options.html#add858454cd25cf498e53bee2b0f5545a">00128</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_k_l_t_options.html#add858454cd25cf498e53bee2b0f5545a">radius</a>; <span class="comment">// size of the block of pixels used</span>
<a name="l00129"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_k_l_t_options.html#aa2d705d6251405d6490e4d9e9d35bfa4">00129</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_k_l_t_options.html#aa2d705d6251405d6490e4d9e9d35bfa4">threshold</a>; <span class="comment">// (default=0.1) for rejecting weak local maxima (with min_eig < threshold*max(eig_image))</span>
<a name="l00130"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_k_l_t_options.html#a5aff9cb33c12a28a280fe74afbae78cd">00130</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_k_l_t_options.html#a5aff9cb33c12a28a280fe74afbae78cd">min_distance</a>; <span class="comment">// minimum distance between features</span>
<a name="l00131"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_k_l_t_options.html#aefa4c498f860d00bbdcdef9da3be6878">00131</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_k_l_t_options.html#aefa4c498f860d00bbdcdef9da3be6878">tile_image</a>; <span class="comment">// splits the image into 8 tiles and search for the best points in all of them (distribute the features over all the image)</span>
<a name="l00132"></a>00132 } KLTOptions;
<a name="l00133"></a>00133 <span class="comment"></span>
<a name="l00134"></a>00134 <span class="comment"> /** Harris Options */</span>
<a name="l00135"></a>00135 <span class="keyword">struct </span><a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_harris_options.html" title="Harris Options.">THarrisOptions</a>
<a name="l00136"></a>00136 {
<a name="l00137"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_harris_options.html#a2c4eb044da839bff2671b9e4881909c9">00137</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_harris_options.html#a2c4eb044da839bff2671b9e4881909c9">threshold</a>; <span class="comment">// (default=0.005) for rejecting weak local maxima (with min_eig < threshold*max(eig_image))</span>
<a name="l00138"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_harris_options.html#a0e868b23bcfd2bb6230e75678fca7ae4">00138</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_harris_options.html#a0e868b23bcfd2bb6230e75678fca7ae4">k</a>; <span class="comment">// k factor for the Harris algorithm</span>
<a name="l00139"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_harris_options.html#adaa45ec5eb5257b90479fb2d260d722d">00139</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_harris_options.html#adaa45ec5eb5257b90479fb2d260d722d">sigma</a>; <span class="comment">// standard deviation for the gaussian smoothing function</span>
<a name="l00140"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_harris_options.html#aae1b6692a67696d2f189434f8983ea70">00140</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_harris_options.html#aae1b6692a67696d2f189434f8983ea70">radius</a>; <span class="comment">// size of the block of pixels used</span>
<a name="l00141"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_harris_options.html#a0d9cdbf9e4b170d20014b6bdbad0e748">00141</a> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_harris_options.html#a0d9cdbf9e4b170d20014b6bdbad0e748">min_distance</a>; <span class="comment">// minimum distance between features</span>
<a name="l00142"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_harris_options.html#a9563978885edd06887a85e90fadbb6ff">00142</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_harris_options.html#a9563978885edd06887a85e90fadbb6ff">tile_image</a>; <span class="comment">// splits the image into 8 tiles and search for the best points in all of them (distribute the features over all the image)</span>
<a name="l00143"></a>00143 } harrisOptions;
<a name="l00144"></a>00144 <span class="comment"></span>
<a name="l00145"></a>00145 <span class="comment"> /** BCD Options */</span>
<a name="l00146"></a>00146 <span class="keyword">struct </span><a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_b_c_d_options.html" title="BCD Options.">TBCDOptions</a>
<a name="l00147"></a>00147 {
<a name="l00148"></a>00148 } BCDOptions;
<a name="l00149"></a>00149 <span class="comment"></span>
<a name="l00150"></a>00150 <span class="comment"> /** FAST and FASTER Options */</span>
<a name="l00151"></a>00151 <span class="keyword">struct </span><a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> TFASTOptions
<a name="l00152"></a>00152 {
<a name="l00153"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_f_a_s_t_options.html#a3391963a3469d0fc16b7f664d26becf3">00153</a> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_f_a_s_t_options.html#a3391963a3469d0fc16b7f664d26becf3" title="default= 20">threshold</a>; <span class="comment">//!< default= 20</span>
<a name="l00154"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_f_a_s_t_options.html#aed40f3ae430d4b86df4cceaa6f38cc53">00154</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_f_a_s_t_options.html#aed40f3ae430d4b86df4cceaa6f38cc53" title="Default = true.">nonmax_suppression</a>; <span class="comment">//!< Default = true</span>
<a name="l00155"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_f_a_s_t_options.html#a01e2439934991bcf66810ad591aab46e">00155</a> <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_f_a_s_t_options.html#a01e2439934991bcf66810ad591aab46e" title="(default=5) minimum distance between features (in pixels)">min_distance</a>; <span class="comment">//!< (default=5) minimum distance between features (in pixels)</span>
<a name="l00156"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_f_a_s_t_options.html#aa73adbde482c2808210ab6e47f5bec24">00156</a> <span class="comment"></span> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_f_a_s_t_options.html#aa73adbde482c2808210ab6e47f5bec24" title="(default=false) If true, use CImage::KLT_response to compute the response at each point instead of th...">use_KLT_response</a>; <span class="comment">//!< (default=false) If true, use CImage::KLT_response to compute the response at each point instead of the FAST "standard response".</span>
<a name="l00157"></a>00157 <span class="comment"></span> } FASTOptions;
<a name="l00158"></a>00158
<a name="l00159"></a>00159 <span class="keyword">struct </span><a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_s_i_f_t_options.html">TSIFTOptions</a>
<a name="l00160"></a>00160 {<span class="comment"></span>
<a name="l00161"></a>00161 <span class="comment"> /** SIFT Options</span>
<a name="l00162"></a>00162 <span class="comment"> */</span>
<a name="l00163"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_s_i_f_t_options.html#aca33044c7af4a0d6068210d0d0abbd00">00163</a> <a class="code" href="classmrpt_1_1vision_1_1_c_feature_extraction.html#a76b67f8b3d01c9062c6a6230ab2d3084">TSIFTImplementation</a> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_s_i_f_t_options.html#aca33044c7af4a0d6068210d0d0abbd00" title="SIFT Options.">implementation</a>;
<a name="l00164"></a>00164 } SIFTOptions;
<a name="l00165"></a>00165
<a name="l00166"></a>00166 <span class="keyword">struct </span><a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_s_u_r_f_options.html">TSURFOptions</a>
<a name="l00167"></a>00167 {<span class="comment"></span>
<a name="l00168"></a>00168 <span class="comment"> /** SURF Options</span>
<a name="l00169"></a>00169 <span class="comment"> */</span>
<a name="l00170"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_s_u_r_f_options.html#ae910a8ff5dc8ce351032d78795aa1c1d">00170</a> <span class="keywordtype">bool</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_s_u_r_f_options.html#ae910a8ff5dc8ce351032d78795aa1c1d" title="SURF Options.">rotation_invariant</a>; <span class="comment">//!< Compute the rotation invariant SURF (dim=128) if set to true (default), or the smaller uSURF otherwise (dim=64)</span>
<a name="l00171"></a>00171 <span class="comment"></span> } SURFOptions;
<a name="l00172"></a>00172
<a name="l00173"></a>00173 <span class="keyword">struct </span><a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_spin_images_options.html">TSpinImagesOptions</a>
<a name="l00174"></a>00174 {<span class="comment"></span>
<a name="l00175"></a>00175 <span class="comment"> /** SpinImages Options</span>
<a name="l00176"></a>00176 <span class="comment"> */</span>
<a name="l00177"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_spin_images_options.html#a7f9eba93062153f66401658d5c9df748">00177</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_spin_images_options.html#a7f9eba93062153f66401658d5c9df748" title="SpinImages Options.">hist_size_intensity</a>; <span class="comment">//!< Number of bins in the "intensity" axis of the 2D histogram (default=10).</span>
<a name="l00178"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_spin_images_options.html#aeb8cf2eefe194f89c954e2e44aa6d2eb">00178</a> <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_spin_images_options.html#aeb8cf2eefe194f89c954e2e44aa6d2eb" title="Number of bins in the "distance" axis of the 2D histogram (default=10).">hist_size_distance</a>; <span class="comment">//!< Number of bins in the "distance" axis of the 2D histogram (default=10).</span>
<a name="l00179"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_spin_images_options.html#af08a781ba05cd5c5aba13dbeeea54893">00179</a> <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_spin_images_options.html#af08a781ba05cd5c5aba13dbeeea54893" title="Standard deviation in "distance", used for the "soft histogram" (default=0.4 pixels)">std_dist</a>; <span class="comment">//!< Standard deviation in "distance", used for the "soft histogram" (default=0.4 pixels)</span>
<a name="l00180"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_spin_images_options.html#a1617824068b084082307f1f28424c638">00180</a> <span class="comment"></span> <span class="keywordtype">float</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_spin_images_options.html#a1617824068b084082307f1f28424c638" title="Standard deviation in "intensity", used for the "soft histogram" (default=20 units [0...">std_intensity</a>; <span class="comment">//!< Standard deviation in "intensity", used for the "soft histogram" (default=20 units [0,255])</span>
<a name="l00181"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_spin_images_options.html#a8c6c6e7364c84dc820d12f81702c57d8">00181</a> <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_spin_images_options.html#a8c6c6e7364c84dc820d12f81702c57d8" title="Maximum radius of the area of which the histogram is built, in pixel units (default=20 pixels)...">radius</a>; <span class="comment">//!< Maximum radius of the area of which the histogram is built, in pixel units (default=20 pixels)</span>
<a name="l00182"></a>00182 <span class="comment"></span> } SpinImagesOptions;
<a name="l00183"></a>00183 <span class="comment"></span>
<a name="l00184"></a>00184 <span class="comment"> /** PolarImagesOptions Options</span>
<a name="l00185"></a>00185 <span class="comment"> */</span>
<a name="l00186"></a>00186 <span class="keyword">struct </span><a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_polar_images_options.html" title="PolarImagesOptions Options.">TPolarImagesOptions</a>
<a name="l00187"></a>00187 {
<a name="l00188"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_polar_images_options.html#af2d6eb1fb8c2de526e9bb326751e8981">00188</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_polar_images_options.html#af2d6eb1fb8c2de526e9bb326751e8981" title="Number of bins in the "angular" axis of the polar image (default=8).">bins_angle</a>; <span class="comment">//!< Number of bins in the "angular" axis of the polar image (default=8).</span>
<a name="l00189"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_polar_images_options.html#a10830cf97c3e1f33c76ef5a68df751de">00189</a> <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_polar_images_options.html#a10830cf97c3e1f33c76ef5a68df751de" title="Number of bins in the "distance" axis of the polar image (default=6).">bins_distance</a>; <span class="comment">//!< Number of bins in the "distance" axis of the polar image (default=6).</span>
<a name="l00190"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_polar_images_options.html#aac65885800f40a92798db0e15a87c4f2">00190</a> <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_polar_images_options.html#aac65885800f40a92798db0e15a87c4f2" title="Maximum radius of the area of which the polar image is built, in pixel units (default=20 pixels)...">radius</a>; <span class="comment">//!< Maximum radius of the area of which the polar image is built, in pixel units (default=20 pixels)</span>
<a name="l00191"></a>00191 <span class="comment"></span> } PolarImagesOptions;
<a name="l00192"></a>00192 <span class="comment"></span>
<a name="l00193"></a>00193 <span class="comment"> /** LogPolarImagesOptions Options</span>
<a name="l00194"></a>00194 <span class="comment"> */</span>
<a name="l00195"></a>00195 <span class="keyword">struct </span><a class="code" href="vision_2include_2mrpt_2vision_2link__pragmas_8h.html#aa4a17fb846aac61f4e57b17b6f784559">VISION_IMPEXP</a> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_log_polar_images_options.html" title="LogPolarImagesOptions Options.">TLogPolarImagesOptions</a>
<a name="l00196"></a>00196 {
<a name="l00197"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_log_polar_images_options.html#af1e78ff2d4281bf0d1e77d48fe9b6dbb">00197</a> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_log_polar_images_options.html#af1e78ff2d4281bf0d1e77d48fe9b6dbb" title="Maximum radius of the area of which the log polar image is built, in pixel units (default=30 pixels)...">radius</a>; <span class="comment">//!< Maximum radius of the area of which the log polar image is built, in pixel units (default=30 pixels)</span>
<a name="l00198"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_log_polar_images_options.html#adb6c761c3b0303f61c1ce2e31c18e383">00198</a> <span class="comment"></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_log_polar_images_options.html#adb6c761c3b0303f61c1ce2e31c18e383" title="(default=16) Log-Polar image patch will have dimensions WxH, with: W=num_angles, H= rho_scale * log(r...">num_angles</a>; <span class="comment">//!< (default=16) Log-Polar image patch will have dimensions WxH, with: W=num_angles, H= rho_scale * log(radius)</span>
<a name="l00199"></a><a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_log_polar_images_options.html#adb768554cecb80634143cf0aed4e0ae3">00199</a> <span class="comment"></span> <span class="keywordtype">double</span> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options_1_1_t_log_polar_images_options.html#adb768554cecb80634143cf0aed4e0ae3" title="(default=5) Log-Polar image patch will have dimensions WxH, with: W=num_angles, H= rho_scale * log(ra...">rho_scale</a>; <span class="comment">//!< (default=5) Log-Polar image patch will have dimensions WxH, with: W=num_angles, H= rho_scale * log(radius)</span>
<a name="l00200"></a>00200 <span class="comment"></span> } LogPolarImagesOptions;
<a name="l00201"></a>00201
<a name="l00202"></a>00202 };
<a name="l00203"></a>00203
<a name="l00204"></a><a class="code" href="classmrpt_1_1vision_1_1_c_feature_extraction.html#ac40e9ebddcd82c27c090a8d8d74c7701">00204</a> <a class="code" href="structmrpt_1_1vision_1_1_c_feature_extraction_1_1_t_options.html" title="The set of parameters for all the detectors & descriptor algorithms.">TOptions</a> <a class="code" href="classmrpt_1_1vision_1_1_c_feature_extraction.html#ac40e9ebddcd82c27c090a8d8d74c7701" title="Set all the parameters of the desired method here before calling "detectFeatures".">options</a>; <span class="comment">//!< Set all the parameters of the desired method here before calling "detectFeatures"</span>
<a name="l00205"></a>00205 <span class="comment"></span><span class="comment"></span>
<a name="l00206"></a>00206 <span class="comment"> /** Constructor</span>
<a name="l00207"></a>00207 <span class="comment"> */</span>
<a name="l00208"></a>00208 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_extraction.html" title="The central class from which images can be analyzed in search of different kinds of interest points a...">CFeatureExtraction</a>();
<a name="l00209"></a>00209 <span class="comment"></span>
<a name="l00210"></a>00210 <span class="comment"> /** Virtual destructor.</span>
<a name="l00211"></a>00211 <span class="comment"> */</span>
<a name="l00212"></a>00212 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1vision_1_1_c_feature_extraction.html" title="The central class from which images can be analyzed in search of different kinds of interest points a...">CFeatureExtraction</a>();
<a name="l00213"></a>00213 <span class="comment"></span>
<a name="l00214"></a>00214 <span class="comment"> /** Extract features from the image based on the method defined in TOptions.</span>
<a name="l00215"></a>00215 <span class="comment"> * \param img (input) The image from where to extract the images.</span>
<a name="l00216"></a>00216 <span class="comment"> * \param feats (output) A complete list of features (containing a patch for each one of them if options.patchsize > 0).</span>
<a name="l00217"></a>00217 <span class="comment"> * \param nDesiredFeatures (op. input) Number of features to be extracted. Default: all possible.</span>
<a name="l00218"></a>00218 <span class="comment"> * \param ROI (op. input) Region of Interest. Default: The whole image.</span>
<a name="l00219"></a>00219 <span class="comment"> *</span>
<a name="l00220"></a>00220 <span class="comment"> * \sa computeDescriptors</span>
<a name="l00221"></a>00221 <span class="comment"> */</span>
<a name="l00222"></a>00222 <span class="keywordtype">void</span> detectFeatures( <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="l00223"></a>00223 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> & feats,
<a name="l00224"></a>00224 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> init_ID = 0,
<a name="l00225"></a>00225 <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nDesiredFeatures = 0,
<a name="l00226"></a>00226 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_image_r_o_i.html" title="A structure for defining a ROI within an image.">TImageROI</a> & ROI = <a class="code" href="structmrpt_1_1vision_1_1_t_image_r_o_i.html" title="A structure for defining a ROI within an image.">TImageROI</a>(),
<a name="l00227"></a>00227 <span class="keyword">const</span> <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> * mask = NULL ) <span class="keyword">const</span>; <span class="comment">// Important: This was a const ref. in mrpt <0.9.4, but the instantiation of a default value</span>
<a name="l00228"></a>00228 <span class="comment">// for CMatrixBool being a template generated duplicated linking errors for MSVC, thus it was changed to a pointer.</span>
<a name="l00229"></a>00229 <span class="comment"></span>
<a name="l00230"></a>00230 <span class="comment"> /** Compute one (or more) descriptors for the given set of interest points onto the image, which may have been filled out manually or from \a detectFeatures</span>
<a name="l00231"></a>00231 <span class="comment"> * \param in_img (input) The image from where to compute the descriptors.</span>
<a name="l00232"></a>00232 <span class="comment"> * \param inout_features (input/output) The list of features whose descriptors are going to be computed.</span>
<a name="l00233"></a>00233 <span class="comment"> * \param in_descriptor_list (input) The bitwise OR of one or several descriptors defined in TDescriptorType.</span>
<a name="l00234"></a>00234 <span class="comment"> *</span>
<a name="l00235"></a>00235 <span class="comment"> * Each value in "in_descriptor_list" represents one descriptor to be computed, for example:</span>
<a name="l00236"></a>00236 <span class="comment"> * \code</span>
<a name="l00237"></a>00237 <span class="comment"> * // This call will compute both, SIFT and Spin-Image descriptors for a list of feature points lstFeats.</span>
<a name="l00238"></a>00238 <span class="comment"> * fext.computeDescriptors(img, lstFeats, descSIFT | descSpinImages );</span>
<a name="l00239"></a>00239 <span class="comment"> * \endcode</span>
<a name="l00240"></a>00240 <span class="comment"> *</span>
<a name="l00241"></a>00241 <span class="comment"> * \note The SIFT descriptors for already located features can only be computed through the Hess and</span>
<a name="l00242"></a>00242 <span class="comment"> * CSBinary implementations which may be specified in CFeatureExtraction::TOptions::SIFTOptions.</span>
<a name="l00243"></a>00243 <span class="comment"> *</span>
<a name="l00244"></a>00244 <span class="comment"> * \note This call will also use additional parameters from \a options</span>
<a name="l00245"></a>00245 <span class="comment"> */</span>
<a name="l00246"></a>00246 <span class="keywordtype">void</span> computeDescriptors(
<a name="l00247"></a>00247 <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="l00248"></a>00248 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &inout_features,
<a name="l00249"></a>00249 <a class="code" href="group__mrpt__vision__grp.html#ga1953f4dfcaf2e07e1049bc0a6bbf53ba" title="The bitwise OR combination of values of TDescriptorType are used in CFeatureExtraction::computeDescri...">TDescriptorType</a> in_descriptor_list) <span class="keyword">const</span>;
<a name="l00250"></a>00250 <span class="comment"></span>
<a name="l00251"></a>00251 <span class="comment"> /** Extract more features from the image (apart from the provided ones) based on the method defined in TOptions.</span>
<a name="l00252"></a>00252 <span class="comment"> * \param img (input) The image from where to extract the images.</span>
<a name="l00253"></a>00253 <span class="comment"> * \param inList (input) The actual features in the image.</span>
<a name="l00254"></a>00254 <span class="comment"> * \param outList (output) The list of new features (containing a patch for each one of them if options.patchsize > 0).</span>
<a name="l00255"></a>00255 <span class="comment"> * \param nDesiredFeatures (op. input) Number of features to be extracted. Default: all possible.</span>
<a name="l00256"></a>00256 <span class="comment"> *</span>
<a name="l00257"></a>00257 <span class="comment"> * \sa The more powerful class: mrpt::vision::CGenericFeatureTracker</span>
<a name="l00258"></a>00258 <span class="comment"> */</span>
<a name="l00259"></a>00259 <span class="keywordtype">void</span> findMoreFeatures( <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="l00260"></a>00260 <span class="keyword">const</span> <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &inList,
<a name="l00261"></a>00261 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &outList,
<a name="l00262"></a>00262 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nDesiredFeats = 0) <span class="keyword">const</span>;
<a name="l00263"></a>00263
<a name="l00264"></a>00264 <span class="comment"></span>
<a name="l00265"></a>00265 <span class="comment"> /** @name Static methods with low-level detector functionality</span>
<a name="l00266"></a>00266 <span class="comment"> @{ */</span>
<a name="l00267"></a>00267 <span class="comment"></span>
<a name="l00268"></a>00268 <span class="comment"> /** A SSE2-optimized implementation of FASTER-9 (requires img to be grayscale). If SSE2 is not available, it gratefully falls back to a non-optimized version</span>
<a name="l00269"></a>00269 <span class="comment"> * Only the pt.{x,y} fields are filled out for each feature: the rest of fields are left <b>uninitialized</b> and their content is <b>undefined</b></span>
<a name="l00270"></a>00270 <span class="comment"> * Note that (x,y) are already scaled to the 0-level image coordinates if octave>0, by means of:</span>
<a name="l00271"></a>00271 <span class="comment"> *</span>
<a name="l00272"></a>00272 <span class="comment"> * pt.x = detected.x << octave;</span>
<a name="l00273"></a>00273 <span class="comment"> * pt.y = detected.y << octave;</span>
<a name="l00274"></a>00274 <span class="comment"> *</span>
<a name="l00275"></a>00275 <span class="comment"> * If \a append_to_list is true, the \a corners list is not cleared before adding the newly detected feats.</span>
<a name="l00276"></a>00276 <span class="comment"> * \ingroup mrptvision_features</span>
<a name="l00277"></a>00277 <span class="comment"> */</span>
<a name="l00278"></a>00278 <span class="keyword">static</span> <span class="keywordtype">void</span> detectFeatures_SSE2_FASTER9(<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 class="code" href="structmrpt_1_1vision_1_1_t_simple_feature_list__templ.html">TSimpleFeatureList</a> & corners, <span class="keyword">const</span> <span class="keywordtype">int</span> threshold = 20, <span class="keywordtype">bool</span> append_to_list = <span class="keyword">false</span>, uint8_t octave = 0);
<a name="l00279"></a>00279 <span class="comment"></span>
<a name="l00280"></a>00280 <span class="comment"> /** Just like \a detectFeatures_SSE2_FASTER9() for another version of the detector.</span>
<a name="l00281"></a>00281 <span class="comment"> * \ingroup mrptvision_features */</span>
<a name="l00282"></a>00282 <span class="keyword">static</span> <span class="keywordtype">void</span> detectFeatures_SSE2_FASTER10(<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 class="code" href="structmrpt_1_1vision_1_1_t_simple_feature_list__templ.html">TSimpleFeatureList</a> & corners, <span class="keyword">const</span> <span class="keywordtype">int</span> threshold = 20, <span class="keywordtype">bool</span> append_to_list = <span class="keyword">false</span>, uint8_t octave = 0);
<a name="l00283"></a>00283 <span class="comment"></span>
<a name="l00284"></a>00284 <span class="comment"> /** Just like \a detectFeatures_SSE2_FASTER9() for another version of the detector.</span>
<a name="l00285"></a>00285 <span class="comment"> * \ingroup mrptvision_features */</span>
<a name="l00286"></a>00286 <span class="keyword">static</span> <span class="keywordtype">void</span> detectFeatures_SSE2_FASTER12(<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 class="code" href="structmrpt_1_1vision_1_1_t_simple_feature_list__templ.html">TSimpleFeatureList</a> & corners, <span class="keyword">const</span> <span class="keywordtype">int</span> threshold = 20, <span class="keywordtype">bool</span> append_to_list = <span class="keyword">false</span>, uint8_t octave = 0);
<a name="l00287"></a>00287 <span class="comment"></span>
<a name="l00288"></a>00288 <span class="comment"> /** @} */</span>
<a name="l00289"></a>00289
<a name="l00290"></a>00290 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00291"></a>00291 <span class="comment"> /** Compute the SIFT descriptor of the provided features into the input image</span>
<a name="l00292"></a>00292 <span class="comment"> * \param in_img (input) The image from where to compute the descriptors.</span>
<a name="l00293"></a>00293 <span class="comment"> * \param in_features (input/output) The list of features whose descriptors are going to be computed.</span>
<a name="l00294"></a>00294 <span class="comment"> *</span>
<a name="l00295"></a>00295 <span class="comment"> * \note The SIFT descriptors for already located features can only be computed through the Hess and</span>
<a name="l00296"></a>00296 <span class="comment"> CSBinary implementations which may be specified in CFeatureExtraction::TOptions::SIFTOptions.</span>
<a name="l00297"></a>00297 <span class="comment"> */</span>
<a name="l00298"></a>00298 <span class="keywordtype">void</span> internal_computeSiftDescriptors( <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="l00299"></a>00299 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &in_features) <span class="keyword">const</span>;
<a name="l00300"></a>00300
<a name="l00301"></a>00301 <span class="comment"></span>
<a name="l00302"></a>00302 <span class="comment"> /** Compute the SURF descriptor of the provided features into the input image</span>
<a name="l00303"></a>00303 <span class="comment"> * \param in_img (input) The image from where to compute the descriptors.</span>
<a name="l00304"></a>00304 <span class="comment"> * \param in_features (input/output) The list of features whose descriptors are going to be computed.</span>
<a name="l00305"></a>00305 <span class="comment"> */</span>
<a name="l00306"></a>00306 <span class="keywordtype">void</span> internal_computeSurfDescriptors( <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="l00307"></a>00307 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &in_features) <span class="keyword">const</span>;
<a name="l00308"></a>00308 <span class="comment"></span>
<a name="l00309"></a>00309 <span class="comment"> /** Compute the intensity-domain spin images descriptor of the provided features into the input image</span>
<a name="l00310"></a>00310 <span class="comment"> * \param in_img (input) The image from where to compute the descriptors.</span>
<a name="l00311"></a>00311 <span class="comment"> * \param in_features (input/output) The list of features whose descriptors are going to be computed.</span>
<a name="l00312"></a>00312 <span class="comment"> *</span>
<a name="l00313"></a>00313 <span class="comment"> * \note Additional parameters from CFeatureExtraction::TOptions::SpinImagesOptions are used in this method.</span>
<a name="l00314"></a>00314 <span class="comment"> */</span>
<a name="l00315"></a>00315 <span class="keywordtype">void</span> internal_computeSpinImageDescriptors( <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="l00316"></a>00316 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &in_features) <span class="keyword">const</span>;
<a name="l00317"></a>00317 <span class="comment"></span>
<a name="l00318"></a>00318 <span class="comment"> /** Compute a polar-image descriptor of the provided features into the input image</span>
<a name="l00319"></a>00319 <span class="comment"> * \param in_img (input) The image from where to compute the descriptors.</span>
<a name="l00320"></a>00320 <span class="comment"> * \param in_features (input/output) The list of features whose descriptors are going to be computed.</span>
<a name="l00321"></a>00321 <span class="comment"> *</span>
<a name="l00322"></a>00322 <span class="comment"> * \note Additional parameters from CFeatureExtraction::TOptions::PolarImagesOptions are used in this method.</span>
<a name="l00323"></a>00323 <span class="comment"> */</span>
<a name="l00324"></a>00324 <span class="keywordtype">void</span> internal_computePolarImageDescriptors( <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="l00325"></a>00325 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &in_features) <span class="keyword">const</span>;
<a name="l00326"></a>00326 <span class="comment"></span>
<a name="l00327"></a>00327 <span class="comment"> /** Compute a log-polar image descriptor of the provided features into the input image</span>
<a name="l00328"></a>00328 <span class="comment"> * \param in_img (input) The image from where to compute the descriptors.</span>
<a name="l00329"></a>00329 <span class="comment"> * \param in_features (input/output) The list of features whose descriptors are going to be computed.</span>
<a name="l00330"></a>00330 <span class="comment"> *</span>
<a name="l00331"></a>00331 <span class="comment"> * \note Additional parameters from CFeatureExtraction::TOptions::LogPolarImagesOptions are used in this method.</span>
<a name="l00332"></a>00332 <span class="comment"> */</span>
<a name="l00333"></a>00333 <span class="keywordtype">void</span> internal_computeLogPolarImageDescriptors( <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="l00334"></a>00334 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &in_features) <span class="keyword">const</span>;
<a name="l00335"></a>00335 <span class="comment"></span>
<a name="l00336"></a>00336 <span class="comment"> /** Select good features using the openCV implementation of the KLT method.</span>
<a name="l00337"></a>00337 <span class="comment"> * \param img (input) The image from where to select extract the images.</span>
<a name="l00338"></a>00338 <span class="comment"> * \param feats (output) A complete list of features (containing a patch for each one of them if options.patchsize > 0).</span>
<a name="l00339"></a>00339 <span class="comment"> * \param nDesiredFeatures (op. input) Number of features to be extracted. Default: all possible.</span>
<a name="l00340"></a>00340 <span class="comment"> * \param omitPixels (op. input) A mask for determining the ROI. (0: do not omit this pixel, 1: omit this pixel)</span>
<a name="l00341"></a>00341 <span class="comment"> */</span>
<a name="l00342"></a>00342 <span class="keywordtype">void</span> selectGoodFeaturesKLT(
<a name="l00343"></a>00343 <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="l00344"></a>00344 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &feats,
<a name="l00345"></a>00345 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> init_ID = 0,
<a name="l00346"></a>00346 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nDesiredFeatures = 0,
<a name="l00347"></a>00347 <span class="keywordtype">void</span> *mask_ = NULL) <span class="keyword">const</span>;
<a name="l00348"></a>00348 <span class="comment"></span>
<a name="l00349"></a>00349 <span class="comment"> /** Extract features from the image based on the KLT method.</span>
<a name="l00350"></a>00350 <span class="comment"> * \param img The image from where to extract the images.</span>
<a name="l00351"></a>00351 <span class="comment"> * \param feats The list of extracted features.</span>
<a name="l00352"></a>00352 <span class="comment"> * \param nDesiredFeatures Number of features to be extracted. Default: authomatic.</span>
<a name="l00353"></a>00353 <span class="comment"> * \param ROI (op. input) Region of Interest. Default: All the image.</span>
<a name="l00354"></a>00354 <span class="comment"> */</span>
<a name="l00355"></a>00355 <span class="keywordtype">void</span> extractFeaturesKLT(
<a name="l00356"></a>00356 <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="l00357"></a>00357 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &feats,
<a name="l00358"></a>00358 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> init_ID = 0,
<a name="l00359"></a>00359 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nDesiredFeatures = 0,
<a name="l00360"></a>00360 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_image_r_o_i.html" title="A structure for defining a ROI within an image.">TImageROI</a> &ROI = <a class="code" href="structmrpt_1_1vision_1_1_t_image_r_o_i.html" title="A structure for defining a ROI within an image.">TImageROI</a>()) <span class="keyword">const</span>;
<a name="l00361"></a>00361
<a name="l00362"></a>00362 <span class="comment">// ------------------------------------------------------------------------------------</span>
<a name="l00363"></a>00363 <span class="comment">// BCD</span>
<a name="l00364"></a>00364 <span class="comment">// ------------------------------------------------------------------------------------</span><span class="comment"></span>
<a name="l00365"></a>00365 <span class="comment"> /** Extract features from the image based on the BCD method.</span>
<a name="l00366"></a>00366 <span class="comment"> * \param img The image from where to extract the images.</span>
<a name="l00367"></a>00367 <span class="comment"> * \param feats The list of extracted features.</span>
<a name="l00368"></a>00368 <span class="comment"> * \param nDesiredFeatures Number of features to be extracted. Default: authomatic.</span>
<a name="l00369"></a>00369 <span class="comment"> * \param ROI (op. input) Region of Interest. Default: All the image.</span>
<a name="l00370"></a>00370 <span class="comment"> */</span>
<a name="l00371"></a>00371 <span class="keywordtype">void</span> extractFeaturesBCD(
<a name="l00372"></a>00372 <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="l00373"></a>00373 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &feats,
<a name="l00374"></a>00374 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> init_ID = 0,
<a name="l00375"></a>00375 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nDesiredFeatures = 0,
<a name="l00376"></a>00376 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_image_r_o_i.html" title="A structure for defining a ROI within an image.">TImageROI</a> &ROI = <a class="code" href="structmrpt_1_1vision_1_1_t_image_r_o_i.html" title="A structure for defining a ROI within an image.">TImageROI</a>()) <span class="keyword">const</span>;
<a name="l00377"></a>00377
<a name="l00378"></a>00378 <span class="comment">// ------------------------------------------------------------------------------------</span>
<a name="l00379"></a>00379 <span class="comment">// SIFT</span>
<a name="l00380"></a>00380 <span class="comment">// ------------------------------------------------------------------------------------</span><span class="comment"></span>
<a name="l00381"></a>00381 <span class="comment"> /** Extract features from the image based on the SIFT method.</span>
<a name="l00382"></a>00382 <span class="comment"> * \param img The image from where to extract the images.</span>
<a name="l00383"></a>00383 <span class="comment"> * \param feats The list of extracted features.</span>
<a name="l00384"></a>00384 <span class="comment"> * \param nDesiredFeatures Number of features to be extracted. Default: authomatic.</span>
<a name="l00385"></a>00385 <span class="comment"> * \param ROI (op. input) Region of Interest. Default: All the image.</span>
<a name="l00386"></a>00386 <span class="comment"> */</span>
<a name="l00387"></a>00387 <span class="keywordtype">void</span> extractFeaturesSIFT(
<a name="l00388"></a>00388 <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="l00389"></a>00389 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &feats,
<a name="l00390"></a>00390 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> init_ID = 0,
<a name="l00391"></a>00391 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nDesiredFeatures = 0,
<a name="l00392"></a>00392 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_image_r_o_i.html" title="A structure for defining a ROI within an image.">TImageROI</a> &ROI = <a class="code" href="structmrpt_1_1vision_1_1_t_image_r_o_i.html" title="A structure for defining a ROI within an image.">TImageROI</a>()) <span class="keyword">const</span>;
<a name="l00393"></a>00393
<a name="l00394"></a>00394 <span class="comment">// ------------------------------------------------------------------------------------</span>
<a name="l00395"></a>00395 <span class="comment">// SURF</span>
<a name="l00396"></a>00396 <span class="comment">// ------------------------------------------------------------------------------------</span><span class="comment"></span>
<a name="l00397"></a>00397 <span class="comment"> /** Extract features from the image based on the SURF method.</span>
<a name="l00398"></a>00398 <span class="comment"> * \param img The image from where to extract the images.</span>
<a name="l00399"></a>00399 <span class="comment"> * \param feats The list of extracted features.</span>
<a name="l00400"></a>00400 <span class="comment"> * \param nDesiredFeatures Number of features to be extracted. Default: authomatic.</span>
<a name="l00401"></a>00401 <span class="comment"> * \param ROI (op. input) Region of Interest. Default: All the image.</span>
<a name="l00402"></a>00402 <span class="comment"> */</span>
<a name="l00403"></a>00403 <span class="keywordtype">void</span> extractFeaturesSURF(
<a name="l00404"></a>00404 <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="l00405"></a>00405 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &feats,
<a name="l00406"></a>00406 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> init_ID = 0,
<a name="l00407"></a>00407 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nDesiredFeatures = 0,
<a name="l00408"></a>00408 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_image_r_o_i.html" title="A structure for defining a ROI within an image.">TImageROI</a> &ROI = <a class="code" href="structmrpt_1_1vision_1_1_t_image_r_o_i.html" title="A structure for defining a ROI within an image.">TImageROI</a>()) <span class="keyword">const</span>;
<a name="l00409"></a>00409
<a name="l00410"></a>00410 <span class="comment">// ------------------------------------------------------------------------------------</span>
<a name="l00411"></a>00411 <span class="comment">// FAST</span>
<a name="l00412"></a>00412 <span class="comment">// ------------------------------------------------------------------------------------</span><span class="comment"></span>
<a name="l00413"></a>00413 <span class="comment"> /** Extract features from the image based on the FAST method.</span>
<a name="l00414"></a>00414 <span class="comment"> * \param img The image from where to extract the images.</span>
<a name="l00415"></a>00415 <span class="comment"> * \param feats The list of extracted features.</span>
<a name="l00416"></a>00416 <span class="comment"> * \param nDesiredFeatures Number of features to be extracted. Default: authomatic.</span>
<a name="l00417"></a>00417 <span class="comment"> * \param ROI (op. input) Region of Interest. Default: All the image.</span>
<a name="l00418"></a>00418 <span class="comment"> */</span>
<a name="l00419"></a>00419 <span class="keywordtype">void</span> extractFeaturesFAST(
<a name="l00420"></a>00420 <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="l00421"></a>00421 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &feats,
<a name="l00422"></a>00422 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> init_ID = 0,
<a name="l00423"></a>00423 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nDesiredFeatures = 0,
<a name="l00424"></a>00424 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_image_r_o_i.html" title="A structure for defining a ROI within an image.">TImageROI</a> &ROI = <a class="code" href="structmrpt_1_1vision_1_1_t_image_r_o_i.html" title="A structure for defining a ROI within an image.">TImageROI</a>(),
<a name="l00425"></a>00425 <span class="keyword">const</span> <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> * mask = NULL ) <span class="keyword">const</span>; <span class="comment">// Important: This was a const ref. in mrpt <0.9.4, but the instantiation of a default value</span>
<a name="l00426"></a>00426 <span class="comment">// for CMatrixBool being a template generated duplicated linking errors for MSVC, thus it was changed to a pointer.</span>
<a name="l00427"></a>00427 <span class="comment"></span>
<a name="l00428"></a>00428 <span class="comment"> /** Edward's "FASTER & Better" detector, N=9,10,12 */</span>
<a name="l00429"></a>00429 <span class="keywordtype">void</span> extractFeaturesFASTER_N(
<a name="l00430"></a>00430 <span class="keyword">const</span> <span class="keywordtype">int</span> N,
<a name="l00431"></a>00431 <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="l00432"></a>00432 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &feats,
<a name="l00433"></a>00433 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> init_ID = 0,
<a name="l00434"></a>00434 <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> nDesiredFeatures = 0,
<a name="l00435"></a>00435 <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_image_r_o_i.html" title="A structure for defining a ROI within an image.">TImageROI</a> &ROI = <a class="code" href="structmrpt_1_1vision_1_1_t_image_r_o_i.html" title="A structure for defining a ROI within an image.">TImageROI</a>()) <span class="keyword">const</span>;
<a name="l00436"></a>00436
<a name="l00437"></a>00437
<a name="l00438"></a>00438 <span class="comment">// ------------------------------------------------------------------------------------</span>
<a name="l00439"></a>00439 <span class="comment">// my_scale_space_extrema</span>
<a name="l00440"></a>00440 <span class="comment">// ------------------------------------------------------------------------------------</span><span class="comment"></span>
<a name="l00441"></a>00441 <span class="comment"> /** Computes extrema in the scale space.</span>
<a name="l00442"></a>00442 <span class="comment"> * \param dog_pyr Pyramid of images.</span>
<a name="l00443"></a>00443 <span class="comment"> * \param octvs Number of considered octaves.</span>
<a name="l00444"></a>00444 <span class="comment"> * \param intvls Number of intervales in octaves.</span>
<a name="l00445"></a>00445 <span class="comment"> */</span>
<a name="l00446"></a>00446 <span class="keywordtype">void</span>* my_scale_space_extrema(
<a name="l00447"></a>00447 <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &featList, <span class="keywordtype">void</span>* dog_pyr,
<a name="l00448"></a>00448 <span class="keywordtype">int</span> octvs, <span class="keywordtype">int</span> intvls, <span class="keywordtype">double</span> contr_thr, <span class="keywordtype">int</span> curv_thr,
<a name="l00449"></a>00449 <span class="keywordtype">void</span>* storage ) <span class="keyword">const</span>;
<a name="l00450"></a>00450 <span class="comment"></span>
<a name="l00451"></a>00451 <span class="comment"> /** Adjust scale if the image was initially doubled.</span>
<a name="l00452"></a>00452 <span class="comment"> * \param features The sequence of features.</span>
<a name="l00453"></a>00453 <span class="comment"> */</span>
<a name="l00454"></a>00454 <span class="keywordtype">void</span> my_adjust_for_img_dbl( <span class="keywordtype">void</span>* features ) <span class="keyword">const</span>;
<a name="l00455"></a>00455 <span class="comment"></span>
<a name="l00456"></a>00456 <span class="comment"> /** Gets the number of times that a point in the image is higher or lower than the surroundings in the image-scale space</span>
<a name="l00457"></a>00457 <span class="comment"> * \param dog_pyr Pyramid of images.</span>
<a name="l00458"></a>00458 <span class="comment"> * \param octvs Number of considered octaves.</span>
<a name="l00459"></a>00459 <span class="comment"> * \param intvls Number of intervales in octaves.</span>
<a name="l00460"></a>00460 <span class="comment"> * \param row The row of the feature in the original image.</span>
<a name="l00461"></a>00461 <span class="comment"> * \param col The column of the feature in the original image.</span>
<a name="l00462"></a>00462 <span class="comment"> * \param nMin [out]: Times that the feature is lower than the surroundings.</span>
<a name="l00463"></a>00463 <span class="comment"> * \param nMax [out]: Times that the feature is higher than the surroundings.</span>
<a name="l00464"></a>00464 <span class="comment"> */</span>
<a name="l00465"></a>00465 <span class="keywordtype">void</span> getTimesExtrema( <span class="keywordtype">void</span>* dog_pyr, <span class="keywordtype">int</span> octvs, <span class="keywordtype">int</span> intvls, <span class="keywordtype">float</span> row, <span class="keywordtype">float</span> col, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &nMin, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> &nMax ) <span class="keyword">const</span>;
<a name="l00466"></a>00466 <span class="comment"></span>
<a name="l00467"></a>00467 <span class="comment"> /** Computes the Laplacian value of the feature in the corresponing image in the pyramid.</span>
<a name="l00468"></a>00468 <span class="comment"> * \param dog_pyr Pyramid of images.</span>
<a name="l00469"></a>00469 <span class="comment"> * \param octvs Number of considered octaves.</span>
<a name="l00470"></a>00470 <span class="comment"> * \param intvls Number of intervales in octaves.</span>
<a name="l00471"></a>00471 <span class="comment"> * \param row The row of the feature in the original image.</span>
<a name="l00472"></a>00472 <span class="comment"> * \param col The column of the feature in the original image.</span>
<a name="l00473"></a>00473 <span class="comment"> */</span>
<a name="l00474"></a>00474 <span class="keywordtype">double</span> getLaplacianValue( <span class="keywordtype">void</span>* dog_pyr, <span class="keywordtype">int</span> octvs, <span class="keywordtype">int</span> intvls, <span class="keywordtype">float</span> row, <span class="keywordtype">float</span> col ) <span class="keyword">const</span>;
<a name="l00475"></a>00475 <span class="comment"></span>
<a name="l00476"></a>00476 <span class="comment"> /** Append a sequence of openCV features into an MRPT feature list.</span>
<a name="l00477"></a>00477 <span class="comment"> * \param features The sequence of features.</span>
<a name="l00478"></a>00478 <span class="comment"> * \param list [in-out] The list of MRPT features.</span>
<a name="l00479"></a>00479 <span class="comment"> * \param init_ID [in] The initial ID for the new features.</span>
<a name="l00480"></a>00480 <span class="comment"> */</span>
<a name="l00481"></a>00481 <span class="keywordtype">void</span> insertCvSeqInCFeatureList( <span class="keywordtype">void</span>* features, <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &<a class="code" href="classstd_1_1list.html" title="STL class.">list</a>, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> init_ID = 0 ) <span class="keyword">const</span>;
<a name="l00482"></a>00482 <span class="comment"></span>
<a name="l00483"></a>00483 <span class="comment"> /** Converts a sequence of openCV features into an MRPT feature list.</span>
<a name="l00484"></a>00484 <span class="comment"> * \param features The sequence of features.</span>
<a name="l00485"></a>00485 <span class="comment"> * \param list [in-out] The list of MRPT features.</span>
<a name="l00486"></a>00486 <span class="comment"> * \param init_ID [in][optional] The initial ID for the features (default = 0).</span>
<a name="l00487"></a>00487 <span class="comment"> * \param ROI [in][optional] The initial ID for the features (default = empty ROI -> not used).</span>
<a name="l00488"></a>00488 <span class="comment"> */</span>
<a name="l00489"></a>00489 <span class="keywordtype">void</span> convertCvSeqInCFeatureList( <span class="keywordtype">void</span>* features, <a class="code" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a> &<a class="code" href="classstd_1_1list.html" title="STL class.">list</a>, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> init_ID = 0, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1vision_1_1_t_image_r_o_i.html" title="A structure for defining a ROI within an image.">TImageROI</a> &ROI = <a class="code" href="structmrpt_1_1vision_1_1_t_image_r_o_i.html" title="A structure for defining a ROI within an image.">TImageROI</a>() ) <span class="keyword">const</span>;
<a name="l00490"></a>00490
<a name="l00491"></a>00491 }; <span class="comment">// end of class</span>
<a name="l00492"></a>00492 } <span class="comment">// end of namespace</span>
<a name="l00493"></a>00493 } <span class="comment">// end of namespace</span>
<a name="l00494"></a>00494 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
