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<li class="navelem"><a class="el" href="namespacemrpt.html">mrpt</a> </li>
<li class="navelem"><a class="el" href="namespacemrpt_1_1vision.html">vision</a> </li>
<li class="navelem"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html">CFeature</a> </li>
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<div class="title">mrpt::vision::CFeature Class Reference<div class="ingroups"><a class="el" href="group__mrptvision__features.html">Feature detection, tracking, descriptors and matching</a></div></div> </div>
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<!-- doxytag: class="mrpt::vision::CFeature" --><!-- doxytag: inherits="mrpt::utils::CSerializable" --><hr/><a name="details" id="details"></a><h2>Detailed Description</h2>
<div class="textblock"><p>A generic 2D feature from an image, extracted with <em><a class="el" href="classmrpt_1_1vision_1_1_c_feature_extraction.html" title="The central class from which images can be analyzed in search of different kinds of interest points a...">CFeatureExtraction</a></em> Each feature may have one or more descriptors (see <em>descriptors</em>), in addition to an image patch. </p>
<p>The (Euclidean) distance between descriptors in a pair of features can be computed with descriptorDistanceTo, while the similarity of the patches is given by patchCorrelationTo.</p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html" title="A list of visual features, to be used as output by detectors, as input/output by trackers, etc.">CFeatureList</a>, <a class="el" href="group__mrptvision__features.html#ga72f50e326eac6ef6efa51b6c26d8c2e6" title="A simple structure for representing one image feature (without descriptor nor patch).">TSimpleFeature</a>, <a class="el" href="group__mrptvision__features.html#ga1a3cacefe1829fabd578ba8cc6fe6638" title="A list of image features using the structure TSimpleFeature for each feature - capable of KD-tree com...">TSimpleFeatureList</a> </dd></dl>
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<p><code>#include <<a class="el" href="_c_feature_8h_source.html">mrpt/vision/CFeature.h</a>></code></p>
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Inheritance diagram for mrpt::vision::CFeature:</div>
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<p><a href="classmrpt_1_1vision_1_1_c_feature-members.html">List of all members.</a></p>
<table class="memberdecls">
<tr><td colspan="2"><h2><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct  </td><td class="memItemRight" valign="bottom"><a class="el" href="structmrpt_1_1vision_1_1_c_feature_1_1_t_descriptors.html">TDescriptors</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">All the possible descriptors this feature may have. <a href="structmrpt_1_1vision_1_1_c_feature_1_1_t_descriptors.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#ad5a86954305dfb28cda7f76f5251dd01">isPointFeature</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return false only for Blob detectors (SIFT, SURF) <a href="#ad5a86954305dfb28cda7f76f5251dd01"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#ab6586702d6d3306c731b525ff382424e">getFirstDescriptorAsMatrix</a> (<a class="el" href="namespacemrpt_1_1math.html#a46578d070e41e17dead613002e755aa3">mrpt::math::CMatrixFloat</a> &desc) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Return the first found descriptor, as a matrix. <a href="#ab6586702d6d3306c731b525ff382424e"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#ac6aefe81a88cf5f41ad83835165400cd">patchCorrelationTo</a> (const <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html">CFeature</a> &oFeature) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the normalized cross-correlation between the patches of this and another feature (normalized in the range [0,1], such as 0=best, 1=worst). <a href="#ac6aefe81a88cf5f41ad83835165400cd"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#ae13c5fb7fbd13956d3fe4bf135538b2a">descriptorDistanceTo</a> (const <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html">CFeature</a> &oFeature, <a class="el" href="group__mrpt__vision__grp.html#ga1953f4dfcaf2e07e1049bc0a6bbf53ba">TDescriptorType</a> descriptorToUse=descAny, bool normalize_distances=true) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the Euclidean Distance between this feature's and other feature's descriptors, using the given descriptor or the first present one. <a href="#ae13c5fb7fbd13956d3fe4bf135538b2a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#afd00d945a303f0a1654c66cd3f7f78f5">descriptorSIFTDistanceTo</a> (const <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html">CFeature</a> &oFeature, bool normalize_distances=true) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the Euclidean Distance between "this" and the "other" descriptors. <a href="#afd00d945a303f0a1654c66cd3f7f78f5"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a1755396a1c6f9a7384af15eb2edc5507">descriptorSURFDistanceTo</a> (const <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html">CFeature</a> &oFeature, bool normalize_distances=true) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the Euclidean Distance between "this" and the "other" descriptors. <a href="#a1755396a1c6f9a7384af15eb2edc5507"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#aa2bf8177e4770b20e6b9548aeb70ed11">descriptorSpinImgDistanceTo</a> (const <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html">CFeature</a> &oFeature, bool normalize_distances=true) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Computes the Euclidean Distance between "this" and the "other" descriptors. <a href="#aa2bf8177e4770b20e6b9548aeb70ed11"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a698053e6bbec27fbd9b796f5d3edb8b7">descriptorPolarImgDistanceTo</a> (const <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html">CFeature</a> &oFeature, float &minDistAngle, bool normalize_distances=true) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the minimum Euclidean Distance between "this" and the "other" polar image descriptor, for the best shift in orientation. <a href="#a698053e6bbec27fbd9b796f5d3edb8b7"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#ad2029d17b5462c81e2c6b0224d24dddf">descriptorLogPolarImgDistanceTo</a> (const <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html">CFeature</a> &oFeature, float &minDistAngle, bool normalize_distances=true) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns the minimum Euclidean Distance between "this" and the "other" log-polar image descriptor, for the best shift in orientation. <a href="#ad2029d17b5462c81e2c6b0224d24dddf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a715b94c0567e573beafa8fa41c44b996">saveToTextFile</a> (const <a class="el" href="classstd_1_1string.html">std::string</a> &filename, bool APPEND=false)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Save the feature to a text file in this format: "%% Dump of mrpt::vision::CFeatureList. Each line format is:\n" "%% ID TYPE X Y ORIENTATION SCALE TRACK_STATUS RESPONSE HAS_SIFT [SIFT] HAS_SURF [SURF] HAS_MULTI [MULTI]_i" "%% |---------------------- feature ------------------| |---------------------- descriptors ------------------------|" "%% with:\n" "%% TYPE : The used detector: 0:KLT, 1: Harris, 2: BCD, 3: SIFT, 4: SURF, 5: Beacon, 6: FAST\n" "%% HAS_* : 1 if a descriptor of that type is associated to the feature." "%% SIFT : Present if HAS_SIFT=1: N DESC_0 ... DESC_N-1" "%% SURF : Present if HAS_SURF=1: N DESC_0 ... DESC_N-1" "%% MULTI : Present if HAS_MULTI=1: SCALE ORI N DESC_0 ... DESC_N-1" "%%-------------------------------------------------------------------------------------------\n");. <a href="#a715b94c0567e573beafa8fa41c44b996"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__mrpt__vision__grp.html#ga3a5b54ab814bafc8bb108e37bbee4e19">TFeatureType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#ad3b21c3cc4e99c9fe6ea0e44a91844eb">get_type</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Get the type of the feature. <a href="#ad3b21c3cc4e99c9fe6ea0e44a91844eb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#aec71d6e666fc4faee8092c45d7562749">dumpToTextStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out) const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Dump feature information into a text stream. <a href="#aec71d6e666fc4faee8092c45d7562749"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a91d9cf4bf26a3efebb52a88c48f19795">dumpToConsole</a> () const </td></tr>
<tr><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a1ad6a1e9946b494adf9f2c8071a5ba08">CFeature</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <a href="#a1ad6a1e9946b494adf9f2c8071a5ba08"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#ae0e8a9bd8393d5732baea7c182ebe9cc">~CFeature</a> ()</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Virtual destructor. <a href="#ae0e8a9bd8393d5732baea7c182ebe9cc"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a534695890364f4b916bba07dad311bcf">duplicateGetSmartPtr</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). <a href="#a534695890364f4b916bba07dad311bcf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#a9ef7857a0b36059c078e195a0a65ac00">clone</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Cloning interface for smart pointers. <a href="#a9ef7857a0b36059c078e195a0a65ac00"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#aa416e35bbdb743c52beb7142fb1db992">x</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a34d51f0ab1403fad111966fea0a189bb">y</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Coordinates in the image. <a href="#a34d51f0ab1403fad111966fea0a189bb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__mrpt__vision__grp.html#ga5bfc93fce347933b63640f2de874ba26">TFeatureID</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#ae8262ee5f1d1efee77a149bf92b10857">ID</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">ID of the feature. <a href="#ae8262ee5f1d1efee77a149bf92b10857"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a545ebf109fad4aa3f089c1756273ba39">patch</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A patch of the image surrounding the feature. <a href="#a545ebf109fad4aa3f089c1756273ba39"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#af6e767426f8ef7725728ea83568db1c0">patchSize</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Size of the patch (patchSize x patchSize) (it must be an odd number) <a href="#af6e767426f8ef7725728ea83568db1c0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__mrpt__vision__grp.html#ga3a5b54ab814bafc8bb108e37bbee4e19">TFeatureType</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a17e54b7e3c647e0b6bd1769f394e1aff">type</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Type of the feature: featNotDefined, featSIFT, featKLT, featHarris, featSURF, featBeacon. <a href="#a17e54b7e3c647e0b6bd1769f394e1aff"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="group__mrpt__vision__grp.html#ga0437f34e59ac06cddc3a490e2605bb71">TFeatureTrackStatus</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#af26ec678d14ebe951cafce7f5b39f68f">track_status</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Status of the feature tracking process (old name: KLT_status) <a href="#af26ec678d14ebe951cafce7f5b39f68f"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a30a046641495c6130125bc0df13cb656">response</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A measure of the "goodness" of the feature (old name: KLT_val) <a href="#a30a046641495c6130125bc0df13cb656"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#adb8b4bebf2422e7eb9788c913b13fb3b">orientation</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Main orientation of the feature. <a href="#adb8b4bebf2422e7eb9788c913b13fb3b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a615b5c2a81711780cf4369b4327b08d8">scale</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Feature scale into the scale space. <a href="#a615b5c2a81711780cf4369b4327b08d8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint8_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#aabe958650b22716faaae030b0a0e85fa">user_flags</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A field for any other flags needed by the user (this has not a predefined meaning) <a href="#aabe958650b22716faaae030b0a0e85fa"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#aa7bde20667ca29510bfcbf3927fe0d84">nTimesSeen</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Number of frames it has been seen in a sequence of images. <a href="#aa7bde20667ca29510bfcbf3927fe0d84"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a9239cf1b0f348eb39b35ea2484dce54b">nTimesNotSeen</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Number of frames it has not been seen in a sequence of images. <a href="#a9239cf1b0f348eb39b35ea2484dce54b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">uint16_t </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#acc28dd774bd05e2fa9561f0a23359409">nTimesLastSeen</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Number of frames since it was seen for the last time. <a href="#acc28dd774bd05e2fa9561f0a23359409"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#af82dad9cbeed15cfc2bbca9b08b0b6e0">depth</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The estimated depth in 3D of this feature wrt the camera in the current frame. <a href="#af82dad9cbeed15cfc2bbca9b08b0b6e0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a541c454fe08c7add9a60f17bd2ed9bf6">initialDepth</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The estimated depth in 3D of this feature wrt the camera that took its image. <a href="#a541c454fe08c7add9a60f17bd2ed9bf6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a37197c69996589ebeb19c9152b2225d8">p3D</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The estimated 3D point of this feature wrt its camera. <a href="#a37197c69996589ebeb19c9152b2225d8"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1deque.html">deque</a>< double > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a9b77ed9364f6801aa274b06f85da3803">multiScales</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A set of scales where the multi-resolution descriptor has been computed. <a href="#a9b77ed9364f6801aa274b06f85da3803"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1deque.html">deque</a>< <a class="el" href="classstd_1_1vector.html">vector</a>< double > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a80b73e2eb9ace233890b75c9753efb83">multiOrientations</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A vector of main orientations (there is a vector of orientations for each scale) <a href="#a80b73e2eb9ace233890b75c9753efb83"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top"><a class="el" href="classstd_1_1deque.html">deque</a>< <a class="el" href="classstd_1_1vector.html">vector</a>< <a class="el" href="classstd_1_1vector.html">vector</a>< int32_t > > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#ac674ae699d575cad99c3b2cdfd96adaf">multiHashCoeffs</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A set of vectors containing the coefficients for a HASH table of descriptors. <a href="#ac674ae699d575cad99c3b2cdfd96adaf"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">struct VISION_IMPEXP <br class="typebreak"/>
<a class="el" href="structmrpt_1_1vision_1_1_c_feature_1_1_t_descriptors.html">mrpt::vision::CFeature::TDescriptors</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a085a34410534bc1072b7f3a2abce3511">descriptors</a></td></tr>
<tr><td colspan="2"><h2><a name="pub-static-attribs"></a>
Static Public Attributes</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">classCObject</a></td></tr>
<tr><td colspan="2"><h2><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a0b6b801e67bca3d8e0d355e7035f8013">writeToStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &out, int *getVersion) const =0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for writing to a <a class="el" 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>. <a href="#a0b6b801e67bca3d8e0d355e7035f8013"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a73ba83035a64939cdc3aa1c0dfed23ec">readFromStream</a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, int version)=0</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Introduces a pure virtual method responsible for loading from a <a class="el" 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> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. <a href="#a73ba83035a64939cdc3aa1c0dfed23ec"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="pro-static-methods"></a>
Static Protected Member Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static float </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a37afc2e5d2809120f720b243f46c722b">internal_distanceBetweenPolarImages</a> (const <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html">mrpt::math::CMatrix</a> &desc1, const <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html">mrpt::math::CMatrix</a> &desc2, float &minDistAngle, bool normalize_distances, bool dont_shift_angle)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Internal function used by "descriptorLogPolarImgDistanceTo" and "descriptorPolarImgDistanceTo". <a href="#a37afc2e5d2809120f720b243f46c722b"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="friends"></a>
Friends</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a521f5cedd5e4d98289b2cfe5f0d8205c">CFeatureList</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a90961e6253ca0296ff545fa3f24e93ff">CMatchedFeatureList</a></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">class </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::utils::CStream</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">classCSerializable</a></td></tr>
<tr><td colspan="2"><h2><a name="member-group"></a>
RTTI stuff</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <a class="el" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a09faf4f457e1a0b4409d5d5ae91141fc">SmartPtr</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a9a82507149f41dd70d56e38e61255a8f">_init_CFeature</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a23d0438f5e11520b5dd487fe556caa76">classCFeature</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a9eef8877b6ace770feb9ae122abee210">classinfo</a></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#af8771c927a577a5ef6172fd6ee24bf05">_GetBaseClass</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual const <br class="typebreak"/>
<a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#ad313551c8409c1c102fe097e4917b4a0">GetRuntimeClass</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns information about the class of an object in runtime. <a href="#ad313551c8409c1c102fe097e4917b4a0"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a43eac0701c624df4976a459ab0ed5f9a">duplicate</a> () const </td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Returns a copy of the object, indepently of its class. <a href="#a43eac0701c624df4976a459ab0ed5f9a"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#aa15ac283c86c7fc5735f1a287724fc19">CreateObject</a> ()</td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static <a class="el" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#ab38c48cdc73f6a7bf36a074ca3a707ab">Create</a> ()</td></tr>
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<hr/><h2>Member Typedef Documentation</h2>
<a class="anchor" id="a09faf4f457e1a0b4409d5d5ae91141fc"></a><!-- doxytag: member="mrpt::vision::CFeature::SmartPtr" ref="a09faf4f457e1a0b4409d5d5ae91141fc" args="" -->
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<td class="memname">typedef <a class="el" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a09faf4f457e1a0b4409d5d5ae91141fc">mrpt::vision::CFeature::SmartPtr</a></td>
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<p>A typedef for the associated smart pointer </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00083">83</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<hr/><h2>Constructor & Destructor Documentation</h2>
<a class="anchor" id="a1ad6a1e9946b494adf9f2c8071a5ba08"></a><!-- doxytag: member="mrpt::vision::CFeature::CFeature" ref="a1ad6a1e9946b494adf9f2c8071a5ba08" args="()" -->
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<td class="memname">mrpt::vision::CFeature::CFeature </td>
<td>(</td>
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<p>Constructor. </p>
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<a class="anchor" id="ae0e8a9bd8393d5732baea7c182ebe9cc"></a><!-- doxytag: member="mrpt::vision::CFeature::~CFeature" ref="ae0e8a9bd8393d5732baea7c182ebe9cc" args="()" -->
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<td class="memname">virtual mrpt::vision::CFeature::~CFeature </td>
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<td><code> [inline, virtual]</code></td>
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<p>Virtual destructor. </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00207">207</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<hr/><h2>Member Function Documentation</h2>
<a class="anchor" id="af8771c927a577a5ef6172fd6ee24bf05"></a><!-- doxytag: member="mrpt::vision::CFeature::_GetBaseClass" ref="af8771c927a577a5ef6172fd6ee24bf05" args="()" -->
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<td class="memname">static const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::vision::CFeature::_GetBaseClass </td>
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<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a471a2d4e8bf14cdc749d43ffb8066a12">mrpt::utils::CSerializable</a>.</p>
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<a class="anchor" id="a9ef7857a0b36059c078e195a0a65ac00"></a><!-- doxytag: member="mrpt::vision::CFeature::clone" ref="a9ef7857a0b36059c078e195a0a65ac00" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object.html">CObject</a>* mrpt::utils::CObject::clone </td>
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<p>Cloning interface for smart pointers. </p>
<p>Reimplemented in <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#acb2597d6d93b406501d9f3530eb56adf">mrpt::opengl::CRenderizable</a>, and <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#ac164cb1d2cf682778ce52967cbd56469">mrpt::opengl::CRenderizableDisplayList</a>.</p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00154">154</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<td class="memname">static <a class="el" href="structmrpt_1_1vision_1_1_c_feature_ptr.html">CFeaturePtr</a> mrpt::vision::CFeature::Create </td>
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<td class="memname">static <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::vision::CFeature::CreateObject </td>
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<td><code> [static]</code></td>
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<a class="anchor" id="ae13c5fb7fbd13956d3fe4bf135538b2a"></a><!-- doxytag: member="mrpt::vision::CFeature::descriptorDistanceTo" ref="ae13c5fb7fbd13956d3fe4bf135538b2a" args="(const CFeature &oFeature, TDescriptorType descriptorToUse=descAny, bool normalize_distances=true) const " -->
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<td class="paramname"><em>oFeature</em>, </td>
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<td class="paramtype"><a class="el" href="group__mrpt__vision__grp.html#ga1953f4dfcaf2e07e1049bc0a6bbf53ba">TDescriptorType</a> </td>
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<p>Computes the Euclidean Distance between this feature's and other feature's descriptors, using the given descriptor or the first present one. </p>
<dl class="note"><dt><b>Note:</b></dt><dd>If descriptorToUse is not descAny and that descriptor is not present in one of the features, an exception will be raised. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#ac6aefe81a88cf5f41ad83835165400cd" title="Computes the normalized cross-correlation between the patches of this and another feature (normalized...">patchCorrelationTo</a> </dd></dl>
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<a class="anchor" id="ad2029d17b5462c81e2c6b0224d24dddf"></a><!-- doxytag: member="mrpt::vision::CFeature::descriptorLogPolarImgDistanceTo" ref="ad2029d17b5462c81e2c6b0224d24dddf" args="(const CFeature &oFeature, float &minDistAngle, bool normalize_distances=true) const " -->
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<p>Returns the minimum Euclidean Distance between "this" and the "other" log-polar image descriptor, for the best shift in orientation. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">oFeature</td><td>The other feature to compare with. </td></tr>
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</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>The distance for the best orientation (minimum distance). </dd></dl>
</div>
</div>
<a class="anchor" id="a698053e6bbec27fbd9b796f5d3edb8b7"></a><!-- doxytag: member="mrpt::vision::CFeature::descriptorPolarImgDistanceTo" ref="a698053e6bbec27fbd9b796f5d3edb8b7" args="(const CFeature &oFeature, float &minDistAngle, bool normalize_distances=true) const " -->
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<td class="memname">float mrpt::vision::CFeature::descriptorPolarImgDistanceTo </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html">CFeature</a> & </td>
<td class="paramname"><em>oFeature</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float & </td>
<td class="paramname"><em>minDistAngle</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>normalize_distances</em> = <code>true</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
</tr>
</table>
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<div class="memdoc">
<p>Returns the minimum Euclidean Distance between "this" and the "other" polar image descriptor, for the best shift in orientation. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">oFeature</td><td>The other feature to compare with. </td></tr>
<tr><td class="paramname">minDistAngle</td><td>The placeholder for the angle at which the smallest distance is found. </td></tr>
</table>
</dd>
</dl>
<dl class="return"><dt><b>Returns:</b></dt><dd>The distance for the best orientation (minimum distance). </dd></dl>
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<a class="anchor" id="afd00d945a303f0a1654c66cd3f7f78f5"></a><!-- doxytag: member="mrpt::vision::CFeature::descriptorSIFTDistanceTo" ref="afd00d945a303f0a1654c66cd3f7f78f5" args="(const CFeature &oFeature, bool normalize_distances=true) const " -->
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<td class="memname">float mrpt::vision::CFeature::descriptorSIFTDistanceTo </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html">CFeature</a> & </td>
<td class="paramname"><em>oFeature</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>normalize_distances</em> = <code>true</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
</tr>
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<div class="memdoc">
<p>Computes the Euclidean Distance between "this" and the "other" descriptors. </p>
</div>
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<a class="anchor" id="aa2bf8177e4770b20e6b9548aeb70ed11"></a><!-- doxytag: member="mrpt::vision::CFeature::descriptorSpinImgDistanceTo" ref="aa2bf8177e4770b20e6b9548aeb70ed11" args="(const CFeature &oFeature, bool normalize_distances=true) const " -->
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<td class="memname">float mrpt::vision::CFeature::descriptorSpinImgDistanceTo </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html">CFeature</a> & </td>
<td class="paramname"><em>oFeature</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>normalize_distances</em> = <code>true</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Computes the Euclidean Distance between "this" and the "other" descriptors. </p>
</div>
</div>
<a class="anchor" id="a1755396a1c6f9a7384af15eb2edc5507"></a><!-- doxytag: member="mrpt::vision::CFeature::descriptorSURFDistanceTo" ref="a1755396a1c6f9a7384af15eb2edc5507" args="(const CFeature &oFeature, bool normalize_distances=true) const " -->
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<td class="memname">float mrpt::vision::CFeature::descriptorSURFDistanceTo </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html">CFeature</a> & </td>
<td class="paramname"><em>oFeature</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>normalize_distances</em> = <code>true</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Computes the Euclidean Distance between "this" and the "other" descriptors. </p>
</div>
</div>
<a class="anchor" id="a91d9cf4bf26a3efebb52a88c48f19795"></a><!-- doxytag: member="mrpt::vision::CFeature::dumpToConsole" ref="a91d9cf4bf26a3efebb52a88c48f19795" args="() const " -->
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<td class="memname">void mrpt::vision::CFeature::dumpToConsole </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
</div>
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<a class="anchor" id="aec71d6e666fc4faee8092c45d7562749"></a><!-- doxytag: member="mrpt::vision::CFeature::dumpToTextStream" ref="aec71d6e666fc4faee8092c45d7562749" args="(mrpt::utils::CStream &out) const " -->
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<td class="memname">void mrpt::vision::CFeature::dumpToTextStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>out</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Dump feature information into a text stream. </p>
</div>
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<a class="anchor" id="a43eac0701c624df4976a459ab0ed5f9a"></a><!-- doxytag: member="mrpt::vision::CFeature::duplicate" ref="a43eac0701c624df4976a459ab0ed5f9a" args="() const " -->
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<td class="memname">virtual <a class="el" href="classmrpt_1_1utils_1_1_c_object.html">mrpt::utils::CObject</a>* mrpt::vision::CFeature::duplicate </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [virtual]</code></td>
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<p>Returns a copy of the object, indepently of its class. </p>
<p>Implements <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#aa1070e173c5f7e307b09c53f1fd256e2">mrpt::utils::CObject</a>.</p>
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<a class="anchor" id="a534695890364f4b916bba07dad311bcf"></a><!-- doxytag: member="mrpt::vision::CFeature::duplicateGetSmartPtr" ref="a534695890364f4b916bba07dad311bcf" args="() const " -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_object_ptr.html">mrpt::utils::CObjectPtr</a> mrpt::utils::CObject::duplicateGetSmartPtr </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline, inherited]</code></td>
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<p>Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). </p>
<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00151">151</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="ad3b21c3cc4e99c9fe6ea0e44a91844eb"></a><!-- doxytag: member="mrpt::vision::CFeature::get_type" ref="ad3b21c3cc4e99c9fe6ea0e44a91844eb" args="() const " -->
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<td class="memname"><a class="el" href="group__mrpt__vision__grp.html#ga3a5b54ab814bafc8bb108e37bbee4e19">TFeatureType</a> mrpt::vision::CFeature::get_type </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [inline]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Get the type of the feature. </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00195">195</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<a class="anchor" id="ab6586702d6d3306c731b525ff382424e"></a><!-- doxytag: member="mrpt::vision::CFeature::getFirstDescriptorAsMatrix" ref="ab6586702d6d3306c731b525ff382424e" args="(mrpt::math::CMatrixFloat &desc) const " -->
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<td class="memname">bool mrpt::vision::CFeature::getFirstDescriptorAsMatrix </td>
<td>(</td>
<td class="paramtype"><a class="el" href="namespacemrpt_1_1math.html#a46578d070e41e17dead613002e755aa3">mrpt::math::CMatrixFloat</a> & </td>
<td class="paramname"><em>desc</em></td><td>)</td>
<td> const</td>
</tr>
</table>
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<p>Return the first found descriptor, as a matrix. </p>
<dl class="return"><dt><b>Returns:</b></dt><dd>false on error, i.e. there is no valid descriptor. </dd></dl>
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<a class="anchor" id="ad313551c8409c1c102fe097e4917b4a0"></a><!-- doxytag: member="mrpt::vision::CFeature::GetRuntimeClass" ref="ad313551c8409c1c102fe097e4917b4a0" args="() const " -->
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<td class="memname">virtual const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* mrpt::vision::CFeature::GetRuntimeClass </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const<code> [virtual]</code></td>
</tr>
</table>
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<div class="memdoc">
<p>Returns information about the class of an object in runtime. </p>
<p>Reimplemented from <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a6861b16159daafd1651d6e0d27f39c58">mrpt::utils::CSerializable</a>.</p>
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<a class="anchor" id="a37afc2e5d2809120f720b243f46c722b"></a><!-- doxytag: member="mrpt::vision::CFeature::internal_distanceBetweenPolarImages" ref="a37afc2e5d2809120f720b243f46c722b" args="(const mrpt::math::CMatrix &desc1, const mrpt::math::CMatrix &desc2, float &minDistAngle, bool normalize_distances, bool dont_shift_angle)" -->
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<td class="memname">static float mrpt::vision::CFeature::internal_distanceBetweenPolarImages </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html">mrpt::math::CMatrix</a> & </td>
<td class="paramname"><em>desc1</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html">mrpt::math::CMatrix</a> & </td>
<td class="paramname"><em>desc2</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">float & </td>
<td class="paramname"><em>minDistAngle</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>normalize_distances</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>dont_shift_angle</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [static, protected]</code></td>
</tr>
</table>
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<p>Internal function used by "descriptorLogPolarImgDistanceTo" and "descriptorPolarImgDistanceTo". </p>
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<a class="anchor" id="ad5a86954305dfb28cda7f76f5251dd01"></a><!-- doxytag: member="mrpt::vision::CFeature::isPointFeature" ref="ad5a86954305dfb28cda7f76f5251dd01" args="() const " -->
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<td class="memname">bool mrpt::vision::CFeature::isPointFeature </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td> const</td>
</tr>
</table>
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<div class="memdoc">
<p>Return false only for Blob detectors (SIFT, SURF) </p>
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<a class="anchor" id="ac6aefe81a88cf5f41ad83835165400cd"></a><!-- doxytag: member="mrpt::vision::CFeature::patchCorrelationTo" ref="ac6aefe81a88cf5f41ad83835165400cd" args="(const CFeature &oFeature) const " -->
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<td class="memname">float mrpt::vision::CFeature::patchCorrelationTo </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html">CFeature</a> & </td>
<td class="paramname"><em>oFeature</em></td><td>)</td>
<td> const</td>
</tr>
</table>
</div>
<div class="memdoc">
<p>Computes the normalized cross-correlation between the patches of this and another feature (normalized in the range [0,1], such as 0=best, 1=worst). </p>
<dl class="note"><dt><b>Note:</b></dt><dd>If this or the other features does not have patches or they are of different sizes, an exception will be raised. </dd></dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#ae13c5fb7fbd13956d3fe4bf135538b2a" title="Computes the Euclidean Distance between this feature's and other feature's descriptors, using the given descriptor or the first present one.">descriptorDistanceTo</a> </dd></dl>
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<a class="anchor" id="a73ba83035a64939cdc3aa1c0dfed23ec"></a><!-- doxytag: member="mrpt::vision::CFeature::readFromStream" ref="a73ba83035a64939cdc3aa1c0dfed23ec" args="(mrpt::utils::CStream &in, int version)=0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::readFromStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>in</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int </td>
<td class="paramname"><em>version</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td><code> [protected, pure virtual, inherited]</code></td>
</tr>
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<p>Introduces a pure virtual method responsible for loading from a <a class="el" 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> This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">in</td><td>The input binary stream where the object data must read from. </td></tr>
<tr><td class="paramname">version</td><td>The version of the object stored in the stream: use this version number in your code to know how to read the incoming data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a1b8cd3d084b5a95a3f65c6eed6e7cc6d" title="Reads a block of bytes from the stream into Buffer On any error, or if ZERO bytes are read...">CStream::ReadBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a0194e57ec48c1dfc6aa00c23d3409143">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a12db95e8c32d48d2d2483936dec516a7">mrpt::math::CMatrix</a>.</p>
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<a class="anchor" id="a715b94c0567e573beafa8fa41c44b996"></a><!-- doxytag: member="mrpt::vision::CFeature::saveToTextFile" ref="a715b94c0567e573beafa8fa41c44b996" args="(const std::string &filename, bool APPEND=false)" -->
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<td class="memname">void mrpt::vision::CFeature::saveToTextFile </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classstd_1_1string.html">std::string</a> & </td>
<td class="paramname"><em>filename</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool </td>
<td class="paramname"><em>APPEND</em> = <code>false</code> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td></td>
</tr>
</table>
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<div class="memdoc">
<p>Save the feature to a text file in this format: "%% Dump of mrpt::vision::CFeatureList. Each line format is:\n" "%% ID TYPE X Y ORIENTATION SCALE TRACK_STATUS RESPONSE HAS_SIFT [SIFT] HAS_SURF [SURF] HAS_MULTI [MULTI]_i" "%% |---------------------- feature ------------------| |---------------------- descriptors ------------------------|" "%% with:\n" "%% TYPE : The used detector: 0:KLT, 1: Harris, 2: BCD, 3: SIFT, 4: SURF, 5: Beacon, 6: FAST\n" "%% HAS_* : 1 if a descriptor of that type is associated to the feature." "%% SIFT : Present if HAS_SIFT=1: N DESC_0 ... DESC_N-1" "%% SURF : Present if HAS_SURF=1: N DESC_0 ... DESC_N-1" "%% MULTI : Present if HAS_MULTI=1: SCALE ORI N DESC_0 ... DESC_N-1" "%%-------------------------------------------------------------------------------------------\n");. </p>
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<a class="anchor" id="a0b6b801e67bca3d8e0d355e7035f8013"></a><!-- doxytag: member="mrpt::vision::CFeature::writeToStream" ref="a0b6b801e67bca3d8e0d355e7035f8013" args="(mrpt::utils::CStream &out, int *getVersion) const =0" -->
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<td class="memname">virtual void mrpt::utils::CSerializable::writeToStream </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td>
<td class="paramname"><em>out</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">int * </td>
<td class="paramname"><em>getVersion</em> </td>
</tr>
<tr>
<td></td>
<td>)</td>
<td></td><td> const<code> [protected, pure virtual, inherited]</code></td>
</tr>
</table>
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<p>Introduces a pure virtual method responsible for writing to a <a class="el" 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>. </p>
<p>This can not be used directly be users, instead use "stream << object;" for writing it to a stream. </p>
<dl><dt><b>Parameters:</b></dt><dd>
<table class="params">
<tr><td class="paramname">out</td><td>The output binary stream where object must be dumped. </td></tr>
<tr><td class="paramname">getVersion</td><td>If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data. </td></tr>
</table>
</dd>
</dl>
<dl><dt><b>Exceptions:</b></dt><dd>
<table class="exception">
<tr><td class="paramname"><a class="el" href="classstd_1_1exception.html" title="STL class.">std::exception</a></td><td>On any error, see <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html#a276005e7110c9de74ff3277b3f7bf621" title="Writes a block of bytes to the stream from Buffer.">CStream::WriteBuffer</a> </td></tr>
</table>
</dd>
</dl>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" 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> </dd></dl>
<p>Implemented in <a class="el" href="classmrpt_1_1math_1_1_c_matrix_d.html#a767e787b52208ab4dd46ba7f5e2fd224">mrpt::math::CMatrixD</a>, and <a class="el" href="classmrpt_1_1math_1_1_c_matrix.html#a059d7eaf80dab9c7435154146d2b7dbf">mrpt::math::CMatrix</a>.</p>
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<hr/><h2>Friends And Related Function Documentation</h2>
<a class="anchor" id="a521f5cedd5e4d98289b2cfe5f0d8205c"></a><!-- doxytag: member="mrpt::vision::CFeature::CFeatureList" ref="a521f5cedd5e4d98289b2cfe5f0d8205c" args="" -->
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<td class="memname">friend class <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list.html">CFeatureList</a><code> [friend]</code></td>
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<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00080">80</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<a class="anchor" id="a90961e6253ca0296ff545fa3f24e93ff"></a><!-- doxytag: member="mrpt::vision::CFeature::CMatchedFeatureList" ref="a90961e6253ca0296ff545fa3f24e93ff" args="" -->
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<td class="memname">friend class <a class="el" href="classmrpt_1_1vision_1_1_c_matched_feature_list.html">CMatchedFeatureList</a><code> [friend]</code></td>
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<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00081">81</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<a class="anchor" id="a6fec28a53e20dfc1c4d046c26f9f7b48"></a><!-- doxytag: member="mrpt::vision::CFeature::mrpt::utils::CStream" ref="a6fec28a53e20dfc1c4d046c26f9f7b48" args="" -->
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<td class="memname">friend class <a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a><code> [friend, inherited]</code></td>
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<p>Reimplemented in <a class="el" href="classmrpt_1_1slam_1_1_c_random_field_grid_map2_d.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CRandomFieldGridMap2D</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_points_map.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CPointsMap</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_observation.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CObservation</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_metric_map.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CMetricMap</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CRenderizable</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_quat_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPose3DQuatPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPointPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose3_d_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPose3DPDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_pose_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPosePDF</a>, <a class="el" href="classmrpt_1_1poses_1_1_c_point2_d_p_d_f.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::poses::CPoint2DPDF</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CRenderizableDisplayList</a>, <a class="el" href="classmrpt_1_1slam_1_1_c_action.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::slam::CAction</a>, <a class="el" href="classmrpt_1_1detectors_1_1_c_detectable_object.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::detectors::CDetectableObject</a>, <a class="el" href="classmrpt_1_1opengl_1_1_c_textured_object.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::opengl::CTexturedObject</a>, and <a class="el" href="classmrpt_1_1reactivenav_1_1_c_holonomic_log_file_record.html#a6fec28a53e20dfc1c4d046c26f9f7b48">mrpt::reactivenav::CHolonomicLogFileRecord</a>.</p>
<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
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<hr/><h2>Member Data Documentation</h2>
<a class="anchor" id="a9a82507149f41dd70d56e38e61255a8f"></a><!-- doxytag: member="mrpt::vision::CFeature::_init_CFeature" ref="a9a82507149f41dd70d56e38e61255a8f" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_c_l_a_s_s_i_n_i_t.html">mrpt::utils::CLASSINIT</a> <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a9a82507149f41dd70d56e38e61255a8f">mrpt::vision::CFeature::_init_CFeature</a><code> [static, protected]</code></td>
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<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00083">83</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<a class="anchor" id="a23d0438f5e11520b5dd487fe556caa76"></a><!-- doxytag: member="mrpt::vision::CFeature::classCFeature" ref="a23d0438f5e11520b5dd487fe556caa76" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a23d0438f5e11520b5dd487fe556caa76">mrpt::vision::CFeature::classCFeature</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00083">83</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<a class="anchor" id="acb51e4dd811d62c2696aee449d0a4715"></a><!-- doxytag: member="mrpt::vision::CFeature::classCObject" ref="acb51e4dd811d62c2696aee449d0a4715" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_object.html#acb51e4dd811d62c2696aee449d0a4715">mrpt::utils::CObject::classCObject</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_object_8h_source.html#l00139">139</a> of file <a class="el" href="_c_object_8h_source.html">CObject.h</a>.</p>
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<a class="anchor" id="a28ec2a03d277a8469b8ecfc81892afdf"></a><!-- doxytag: member="mrpt::vision::CFeature::classCSerializable" ref="a28ec2a03d277a8469b8ecfc81892afdf" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a> <a class="el" href="classmrpt_1_1utils_1_1_c_serializable.html#a28ec2a03d277a8469b8ecfc81892afdf">mrpt::utils::CSerializable::classCSerializable</a><code> [static, inherited]</code></td>
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<p>Definition at line <a class="el" href="_c_serializable_8h_source.html#l00056">56</a> of file <a class="el" href="_c_serializable_8h_source.html">CSerializable.h</a>.</p>
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<a class="anchor" id="a9eef8877b6ace770feb9ae122abee210"></a><!-- doxytag: member="mrpt::vision::CFeature::classinfo" ref="a9eef8877b6ace770feb9ae122abee210" args="" -->
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<td class="memname">const <a class="el" href="structmrpt_1_1utils_1_1_t_runtime_class_id.html">mrpt::utils::TRuntimeClassId</a>* <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a9eef8877b6ace770feb9ae122abee210">mrpt::vision::CFeature::classinfo</a><code> [static]</code></td>
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<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00083">83</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<a class="anchor" id="af82dad9cbeed15cfc2bbca9b08b0b6e0"></a><!-- doxytag: member="mrpt::vision::CFeature::depth" ref="af82dad9cbeed15cfc2bbca9b08b0b6e0" args="" -->
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<td class="memname">double <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#af82dad9cbeed15cfc2bbca9b08b0b6e0">mrpt::vision::CFeature::depth</a></td>
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<p>The estimated depth in 3D of this feature wrt the camera in the current frame. </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00100">100</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<a class="anchor" id="a085a34410534bc1072b7f3a2abce3511"></a><!-- doxytag: member="mrpt::vision::CFeature::descriptors" ref="a085a34410534bc1072b7f3a2abce3511" args="" -->
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<td class="memname">struct VISION_IMPEXP <a class="el" href="structmrpt_1_1vision_1_1_c_feature_1_1_t_descriptors.html">mrpt::vision::CFeature::TDescriptors</a>
<a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a085a34410534bc1072b7f3a2abce3511">mrpt::vision::CFeature::descriptors</a></td>
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<a class="anchor" id="ae8262ee5f1d1efee77a149bf92b10857"></a><!-- doxytag: member="mrpt::vision::CFeature::ID" ref="ae8262ee5f1d1efee77a149bf92b10857" args="" -->
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<td class="memname"><a class="el" href="group__mrpt__vision__grp.html#ga5bfc93fce347933b63640f2de874ba26">TFeatureID</a> <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#ae8262ee5f1d1efee77a149bf92b10857">mrpt::vision::CFeature::ID</a></td>
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<p>ID of the feature. </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00087">87</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<a class="anchor" id="a541c454fe08c7add9a60f17bd2ed9bf6"></a><!-- doxytag: member="mrpt::vision::CFeature::initialDepth" ref="a541c454fe08c7add9a60f17bd2ed9bf6" args="" -->
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<td class="memname">double <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a541c454fe08c7add9a60f17bd2ed9bf6">mrpt::vision::CFeature::initialDepth</a></td>
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<p>The estimated depth in 3D of this feature wrt the camera that took its image. </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00101">101</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<a class="anchor" id="ac674ae699d575cad99c3b2cdfd96adaf"></a><!-- doxytag: member="mrpt::vision::CFeature::multiHashCoeffs" ref="ac674ae699d575cad99c3b2cdfd96adaf" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1deque.html">deque</a><<a class="el" href="classstd_1_1vector.html">vector</a><<a class="el" href="classstd_1_1vector.html">vector</a><int32_t> > > <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#ac674ae699d575cad99c3b2cdfd96adaf">mrpt::vision::CFeature::multiHashCoeffs</a></td>
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<p>A set of vectors containing the coefficients for a HASH table of descriptors. </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00105">105</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<a class="anchor" id="a80b73e2eb9ace233890b75c9753efb83"></a><!-- doxytag: member="mrpt::vision::CFeature::multiOrientations" ref="a80b73e2eb9ace233890b75c9753efb83" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1deque.html">deque</a><<a class="el" href="classstd_1_1vector.html">vector</a><double> > <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a80b73e2eb9ace233890b75c9753efb83">mrpt::vision::CFeature::multiOrientations</a></td>
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<p>A vector of main orientations (there is a vector of orientations for each scale) </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00104">104</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<a class="anchor" id="a9b77ed9364f6801aa274b06f85da3803"></a><!-- doxytag: member="mrpt::vision::CFeature::multiScales" ref="a9b77ed9364f6801aa274b06f85da3803" args="" -->
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<td class="memname"><a class="el" href="classstd_1_1deque.html">deque</a><double> <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a9b77ed9364f6801aa274b06f85da3803">mrpt::vision::CFeature::multiScales</a></td>
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<p>A set of scales where the multi-resolution descriptor has been computed. </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00103">103</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<a class="anchor" id="acc28dd774bd05e2fa9561f0a23359409"></a><!-- doxytag: member="mrpt::vision::CFeature::nTimesLastSeen" ref="acc28dd774bd05e2fa9561f0a23359409" args="" -->
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<td class="memname">uint16_t <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#acc28dd774bd05e2fa9561f0a23359409">mrpt::vision::CFeature::nTimesLastSeen</a></td>
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<p>Number of frames since it was seen for the last time. </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00098">98</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<a class="anchor" id="a9239cf1b0f348eb39b35ea2484dce54b"></a><!-- doxytag: member="mrpt::vision::CFeature::nTimesNotSeen" ref="a9239cf1b0f348eb39b35ea2484dce54b" args="" -->
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<p>Number of frames it has not been seen in a sequence of images. </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00097">97</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<a class="anchor" id="aa7bde20667ca29510bfcbf3927fe0d84"></a><!-- doxytag: member="mrpt::vision::CFeature::nTimesSeen" ref="aa7bde20667ca29510bfcbf3927fe0d84" args="" -->
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<td class="memname">uint16_t <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#aa7bde20667ca29510bfcbf3927fe0d84">mrpt::vision::CFeature::nTimesSeen</a></td>
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<p>Number of frames it has been seen in a sequence of images. </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00096">96</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<td class="memname">float <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#adb8b4bebf2422e7eb9788c913b13fb3b">mrpt::vision::CFeature::orientation</a></td>
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<p>Main orientation of the feature. </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00093">93</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<a class="anchor" id="a37197c69996589ebeb19c9152b2225d8"></a><!-- doxytag: member="mrpt::vision::CFeature::p3D" ref="a37197c69996589ebeb19c9152b2225d8" args="" -->
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<td class="memname"><a class="el" href="structmrpt_1_1math_1_1_t_point3_d.html">TPoint3D</a> <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a37197c69996589ebeb19c9152b2225d8">mrpt::vision::CFeature::p3D</a></td>
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<p>The estimated 3D point of this feature wrt its camera. </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00102">102</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<a class="anchor" id="a545ebf109fad4aa3f089c1756273ba39"></a><!-- doxytag: member="mrpt::vision::CFeature::patch" ref="a545ebf109fad4aa3f089c1756273ba39" args="" -->
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<td class="memname"><a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a545ebf109fad4aa3f089c1756273ba39">mrpt::vision::CFeature::patch</a></td>
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<p>A patch of the image surrounding the feature. </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00088">88</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<td class="memname">uint16_t <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#af6e767426f8ef7725728ea83568db1c0">mrpt::vision::CFeature::patchSize</a></td>
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<p>Size of the patch (patchSize x patchSize) (it must be an odd number) </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00089">89</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<td class="memname">float <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a30a046641495c6130125bc0df13cb656">mrpt::vision::CFeature::response</a></td>
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<p>A measure of the "goodness" of the feature (old name: KLT_val) </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00092">92</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<p>Feature scale into the scale space. </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00094">94</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<td class="memname"><a class="el" href="group__mrpt__vision__grp.html#ga0437f34e59ac06cddc3a490e2605bb71">TFeatureTrackStatus</a> <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#af26ec678d14ebe951cafce7f5b39f68f">mrpt::vision::CFeature::track_status</a></td>
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<p>Status of the feature tracking process (old name: KLT_status) </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00091">91</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<td class="memname"><a class="el" href="group__mrpt__vision__grp.html#ga3a5b54ab814bafc8bb108e37bbee4e19">TFeatureType</a> <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a17e54b7e3c647e0b6bd1769f394e1aff">mrpt::vision::CFeature::type</a></td>
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<p>Type of the feature: featNotDefined, featSIFT, featKLT, featHarris, featSURF, featBeacon. </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00090">90</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<td class="memname">uint8_t <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#aabe958650b22716faaae030b0a0e85fa">mrpt::vision::CFeature::user_flags</a></td>
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<p>A field for any other flags needed by the user (this has not a predefined meaning) </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00095">95</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<td class="memname">float <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#aa416e35bbdb743c52beb7142fb1db992">mrpt::vision::CFeature::x</a></td>
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<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00086">86</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<td class="memname">float <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html#a34d51f0ab1403fad111966fea0a189bb">mrpt::vision::CFeature::y</a></td>
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<p>Coordinates in the image. </p>
<p>Definition at line <a class="el" href="_c_feature_8h_source.html#l00086">86</a> of file <a class="el" href="_c_feature_8h_source.html">CFeature.h</a>.</p>
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<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
