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<div class="title">Feature detection, tracking, descriptors and matching</div> </div>
<div class="ingroups"><a class="el" href="group__mrpt__vision__grp.html">[mrpt-vision]</a></div></div>
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Collaboration diagram for Feature detection, tracking, descriptors and matching:</div>
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<center><table><tr><td><img src="group__mrptvision__features.png" border="0" alt="" usemap="#group____mrptvision____features"/>
<map name="group____mrptvision____features" id="group____mrptvision____features">
<area shape="rect" id="node1" href="group__mrpt__vision__grp.html" title=" Back to list of all libraries | See all modules   " alt="" coords="6,5,101,32"/></map>
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<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_ptr.html">mrpt::vision::CFeaturePtr</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">mrpt::vision::CFeature</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">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. <a href="classmrpt_1_1vision_1_1_c_feature.html#details">More...</a><br/></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_list.html">mrpt::vision::CFeatureList</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of visual features, to be used as output by detectors, as input/output by trackers, etc. <a href="classmrpt_1_1vision_1_1_c_feature_list.html#details">More...</a><br/></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_matched_feature_list.html">mrpt::vision::CMatchedFeatureList</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of features. <a href="classmrpt_1_1vision_1_1_c_matched_feature_list.html#details">More...</a><br/></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_extraction.html">mrpt::vision::CFeatureExtraction</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">The central class from which images can be analyzed in search of different kinds of interest points and descriptors computed for them. <a href="classmrpt_1_1vision_1_1_c_feature_extraction.html#details">More...</a><br/></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_t_simple_feature__templ.html">mrpt::vision::TSimpleFeature_templ</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A simple structure for representing one image feature (without descriptor nor patch) - This is the template which allows you to select if pixels are represented as integers or floats. <a href="structmrpt_1_1vision_1_1_t_simple_feature__templ.html#details">More...</a><br/></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_t_simple_feature_traits_3_01_t_simple_feature_01_4.html">mrpt::vision::TSimpleFeatureTraits< TSimpleFeature ></a></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_t_simple_feature_traits_3_01_t_simple_featuref_01_4.html">mrpt::vision::TSimpleFeatureTraits< TSimpleFeaturef ></a></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_t_simple_feature_list__templ.html">mrpt::vision::TSimpleFeatureList_templ</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of image features using the structure TSimpleFeature for each feature - capable of KD-tree computations Users normally use directly the typedef's: TSimpleFeatureList & TSimpleFeaturefList. <a href="structmrpt_1_1vision_1_1_t_simple_feature_list__templ.html#details">More...</a><br/></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_keypoint_response_sorter.html">mrpt::vision::KeypointResponseSorter</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A helper struct to sort keypoints by their response: It can be used with these types: <a href="structmrpt_1_1vision_1_1_keypoint_response_sorter.html#details">More...</a><br/></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_list_k_d_tree.html">mrpt::vision::CFeatureListKDTree</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Helper class: KD-tree search class for vector<KeyPoint>: Call <a class="el" href="classmrpt_1_1vision_1_1_c_feature_list_k_d_tree.html#a7af8b1c8c455e55055209a49b189398b">mark_as_outdated()</a> to force rebuilding the kd-tree after modifying the linked feature list. <a href="classmrpt_1_1vision_1_1_c_feature_list_k_d_tree.html#details">More...</a><br/></td></tr>
<tr><td colspan="2"><h2><a name="typedef-members"></a>
Typedefs</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef TSimpleFeature_templ<br class="typebreak"/>
< <a class="el" href="structmrpt_1_1utils_1_1_t_pixel_coord.html">mrpt::utils::TPixelCoord</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrptvision__features.html#ga72f50e326eac6ef6efa51b6c26d8c2e6">mrpt::vision::TSimpleFeature</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A simple structure for representing one image feature (without descriptor nor patch). <a href="#ga72f50e326eac6ef6efa51b6c26d8c2e6"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef TSimpleFeature_templ<br class="typebreak"/>
< <a class="el" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html">mrpt::utils::TPixelCoordf</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrptvision__features.html#gabea9e05e2e7d0997e84d128d4db5ad14">mrpt::vision::TSimpleFeaturef</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A version of TSimpleFeature with subpixel precision. <a href="#gabea9e05e2e7d0997e84d128d4db5ad14"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
TSimpleFeatureList_templ<br class="typebreak"/>
< TSimpleFeature > </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrptvision__features.html#ga1a3cacefe1829fabd578ba8cc6fe6638">mrpt::vision::TSimpleFeatureList</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of image features using the structure TSimpleFeature for each feature - capable of KD-tree computations. <a href="#ga1a3cacefe1829fabd578ba8cc6fe6638"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">typedef <br class="typebreak"/>
TSimpleFeatureList_templ<br class="typebreak"/>
< TSimpleFeaturef > </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrptvision__features.html#ga084ff91c2b6d61b13959eb8e34548b56">mrpt::vision::TSimpleFeaturefList</a></td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A list of image features using the structure TSimpleFeaturef for each feature - capable of KD-tree computations. <a href="#ga084ff91c2b6d61b13959eb8e34548b56"></a><br/></td></tr>
<tr><td colspan="2"><h2><a name="func-members"></a>
Functions</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrptvision__features.html#gad9b66b3f10ce87deb4b8a636ad90f47d">mrpt::vision::operator>></a> (<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a> &in, CFeaturePtr &pObj)</td></tr>
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Static methods with low-level detector functionality</h2></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrptvision__features.html#ga77bd7b9efd0690507492a05477d5903b">mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER9</a> (const CImage &img, TSimpleFeatureList &corners, const int threshold=20, bool append_to_list=false, uint8_t octave=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">A SSE2-optimized implementation of FASTER-9 (requires img to be grayscale). <a href="#ga77bd7b9efd0690507492a05477d5903b"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrptvision__features.html#ga248014dca65924eb5ce68e80e02465cb">mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER10</a> (const CImage &img, TSimpleFeatureList &corners, const int threshold=20, bool append_to_list=false, uint8_t octave=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Just like <em><a class="el" href="group__mrptvision__features.html#ga77bd7b9efd0690507492a05477d5903b" title="A SSE2-optimized implementation of FASTER-9 (requires img to be grayscale).">detectFeatures_SSE2_FASTER9()</a></em> for another version of the detector. <a href="#ga248014dca65924eb5ce68e80e02465cb"></a><br/></td></tr>
<tr><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="group__mrptvision__features.html#ga0737a4c1b6e01979d9307c1f82f79ec4">mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER12</a> (const CImage &img, TSimpleFeatureList &corners, const int threshold=20, bool append_to_list=false, uint8_t octave=0)</td></tr>
<tr><td class="mdescLeft"> </td><td class="mdescRight">Just like <em><a class="el" href="group__mrptvision__features.html#ga77bd7b9efd0690507492a05477d5903b" title="A SSE2-optimized implementation of FASTER-9 (requires img to be grayscale).">detectFeatures_SSE2_FASTER9()</a></em> for another version of the detector. <a href="#ga0737a4c1b6e01979d9307c1f82f79ec4"></a><br/></td></tr>
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<hr/><h2>Typedef Documentation</h2>
<a class="anchor" id="ga72f50e326eac6ef6efa51b6c26d8c2e6"></a><!-- doxytag: member="mrpt::vision::TSimpleFeature" ref="ga72f50e326eac6ef6efa51b6c26d8c2e6" args="" -->
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<td class="memname">typedef TSimpleFeature_templ<<a class="el" href="structmrpt_1_1utils_1_1_t_pixel_coord.html">mrpt::utils::TPixelCoord</a>> <a class="el" href="group__mrptvision__features.html#ga72f50e326eac6ef6efa51b6c26d8c2e6">mrpt::vision::TSimpleFeature</a></td>
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<p>A simple structure for representing one image feature (without descriptor nor patch). </p>
<dl class="see"><dt><b>See also:</b></dt><dd><a class="el" href="group__mrptvision__features.html#gabea9e05e2e7d0997e84d128d4db5ad14" title="A version of TSimpleFeature with subpixel precision.">TSimpleFeaturef</a>, <a class="el" href="classmrpt_1_1vision_1_1_c_feature.html" title="A generic 2D feature from an image, extracted with CFeatureExtraction Each feature may have one or mo...">CFeature</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>
<p>Definition at line <a class="el" href="_t_simple_feature_8h_source.html#l00070">70</a> of file <a class="el" href="_t_simple_feature_8h_source.html">TSimpleFeature.h</a>.</p>
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<a class="anchor" id="gabea9e05e2e7d0997e84d128d4db5ad14"></a><!-- doxytag: member="mrpt::vision::TSimpleFeaturef" ref="gabea9e05e2e7d0997e84d128d4db5ad14" args="" -->
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<td class="memname">typedef TSimpleFeature_templ<<a class="el" href="structmrpt_1_1utils_1_1_t_pixel_coordf.html">mrpt::utils::TPixelCoordf</a>> <a class="el" href="group__mrptvision__features.html#gabea9e05e2e7d0997e84d128d4db5ad14">mrpt::vision::TSimpleFeaturef</a></td>
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<p>A version of TSimpleFeature with subpixel precision. </p>
<p>Definition at line <a class="el" href="_t_simple_feature_8h_source.html#l00073">73</a> of file <a class="el" href="_t_simple_feature_8h_source.html">TSimpleFeature.h</a>.</p>
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<a class="anchor" id="ga084ff91c2b6d61b13959eb8e34548b56"></a><!-- doxytag: member="mrpt::vision::TSimpleFeaturefList" ref="ga084ff91c2b6d61b13959eb8e34548b56" args="" -->
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<td class="memname">typedef TSimpleFeatureList_templ<TSimpleFeaturef> <a class="el" href="group__mrptvision__features.html#ga084ff91c2b6d61b13959eb8e34548b56">mrpt::vision::TSimpleFeaturefList</a></td>
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<p>A list of image features using the structure TSimpleFeaturef for each feature - capable of KD-tree computations. </p>
<p>Definition at line <a class="el" href="_t_simple_feature_8h_source.html#l00207">207</a> of file <a class="el" href="_t_simple_feature_8h_source.html">TSimpleFeature.h</a>.</p>
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<a class="anchor" id="ga1a3cacefe1829fabd578ba8cc6fe6638"></a><!-- doxytag: member="mrpt::vision::TSimpleFeatureList" ref="ga1a3cacefe1829fabd578ba8cc6fe6638" args="" -->
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<td class="memname">typedef TSimpleFeatureList_templ<TSimpleFeature> <a class="el" href="group__mrptvision__features.html#ga1a3cacefe1829fabd578ba8cc6fe6638">mrpt::vision::TSimpleFeatureList</a></td>
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<p>A list of image features using the structure TSimpleFeature for each feature - capable of KD-tree computations. </p>
<p>Definition at line <a class="el" href="_t_simple_feature_8h_source.html#l00204">204</a> of file <a class="el" href="_t_simple_feature_8h_source.html">TSimpleFeature.h</a>.</p>
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<hr/><h2>Function Documentation</h2>
<a class="anchor" id="ga248014dca65924eb5ce68e80e02465cb"></a><!-- doxytag: member="mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER10" ref="ga248014dca65924eb5ce68e80e02465cb" args="(const CImage &img, TSimpleFeatureList &corners, const int threshold=20, bool append_to_list=false, uint8_t octave=0)" -->
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<td class="memname">static void mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER10 </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> & </td>
<td class="paramname"><em>img</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype"><a class="el" href="group__mrptvision__features.html#ga1a3cacefe1829fabd578ba8cc6fe6638">TSimpleFeatureList</a> & </td>
<td class="paramname"><em>corners</em>, </td>
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<td class="paramtype">const int </td>
<td class="paramname"><em>threshold</em> = <code>20</code>, </td>
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<td class="paramtype">bool </td>
<td class="paramname"><em>append_to_list</em> = <code>false</code>, </td>
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<td>)</td>
<td></td><td><code> [static]</code></td>
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<p>Just like <em><a class="el" href="group__mrptvision__features.html#ga77bd7b9efd0690507492a05477d5903b" title="A SSE2-optimized implementation of FASTER-9 (requires img to be grayscale).">detectFeatures_SSE2_FASTER9()</a></em> for another version of the detector. </p>
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<a class="anchor" id="ga0737a4c1b6e01979d9307c1f82f79ec4"></a><!-- doxytag: member="mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER12" ref="ga0737a4c1b6e01979d9307c1f82f79ec4" args="(const CImage &img, TSimpleFeatureList &corners, const int threshold=20, bool append_to_list=false, uint8_t octave=0)" -->
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<td class="memname">static void mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER12 </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> & </td>
<td class="paramname"><em>img</em>, </td>
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<td class="paramtype"><a class="el" href="group__mrptvision__features.html#ga1a3cacefe1829fabd578ba8cc6fe6638">TSimpleFeatureList</a> & </td>
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<td class="paramname"><em>threshold</em> = <code>20</code>, </td>
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<td>)</td>
<td></td><td><code> [static]</code></td>
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<p>Just like <em><a class="el" href="group__mrptvision__features.html#ga77bd7b9efd0690507492a05477d5903b" title="A SSE2-optimized implementation of FASTER-9 (requires img to be grayscale).">detectFeatures_SSE2_FASTER9()</a></em> for another version of the detector. </p>
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<a class="anchor" id="ga77bd7b9efd0690507492a05477d5903b"></a><!-- doxytag: member="mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER9" ref="ga77bd7b9efd0690507492a05477d5903b" args="(const CImage &img, TSimpleFeatureList &corners, const int threshold=20, bool append_to_list=false, uint8_t octave=0)" -->
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<td class="memname">static void mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER9 </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="classmrpt_1_1utils_1_1_c_image.html">CImage</a> & </td>
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<td class="paramtype"><a class="el" href="group__mrptvision__features.html#ga1a3cacefe1829fabd578ba8cc6fe6638">TSimpleFeatureList</a> & </td>
<td class="paramname"><em>corners</em>, </td>
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<td class="paramname"><em>threshold</em> = <code>20</code>, </td>
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<td class="paramtype">bool </td>
<td class="paramname"><em>append_to_list</em> = <code>false</code>, </td>
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<td class="paramtype">uint8_t </td>
<td class="paramname"><em>octave</em> = <code>0</code> </td>
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<p>A SSE2-optimized implementation of FASTER-9 (requires img to be grayscale). </p>
<p>If SSE2 is not available, it gratefully falls back to a non-optimized version 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> Note that (x,y) are already scaled to the 0-level image coordinates if octave>0, by means of:</p>
<p>pt.x = detected.x << octave; pt.y = detected.y << octave;</p>
<p>If <em>append_to_list</em> is true, the <em>corners</em> list is not cleared before adding the newly detected feats. </p>
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<td class="memname">::<a class="el" href="classmrpt_1_1utils_1_1_c_stream.html">mrpt::utils::CStream</a>& mrpt::vision::operator>> </td>
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<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>
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<td class="paramtype">CFeaturePtr & </td>
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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>
