mrpt::vision::CFeatureExtraction Class Reference

#include <mrpt/vision/CFeatureExtraction.h>

List of all members.

Classes
struct	TOptions
Public Types
enum	TMethodExtraction {   extMethodKLT = 0, extMethodHarris, extMethodBCD, extMethodSIFT,   extMethodSURF }
enum	TSIFTImplementation { LoweBinary = 0, CSBinary, VedaldiBinary, Hess }
Public Member Functions
	CFeatureExtraction ()
	Constructor.
virtual	~CFeatureExtraction ()
	Virtual destructor.
void	detectFeatures (const CMRPTImage &img, CFeatureList &feats, unsigned int init_ID=0, unsigned int nDesiredFeatures=0, const TImageROI &ROI=TImageROI())
	Extract features from the image based on the method defined in TOptions.
void	computeSiftDescriptors (const CMRPTImage &in_img, CFeatureList &in_features)
	Compute the SIFT descriptor of the provided features into the input image.
void	findMoreFeatures (const CMRPTImage &img, const CFeatureList &inList, CFeatureList &outList, unsigned int nDesiredFeats=0)
	Extract more features from the image (apart from the provided ones) based on the method defined in TOptions .
Public Attributes
struct MRPTDLLIMPEXP mrpt::vision::CFeatureExtraction::TOptions	options
Private Member Functions
void	selectGoodFeaturesKLT (const CMRPTImage &inImg, CFeatureList &feats, unsigned int init_ID=0, unsigned int nDesiredFeatures=0, void *mask_=NULL)
	Extract features from the image based on the Harris method.
void	extractFeaturesKLT (const CMRPTImage &img, CFeatureList &feats, unsigned int init_ID=0, unsigned int nDesiredFeatures=0, unsigned int x_min=0, unsigned int x_length=0, unsigned int y_min=0, unsigned int y_length=0)
	Extract features from the image based on the KLT method.
void	extractFeaturesKLT (const CMRPTImage &img, CFeatureList &feats, unsigned int init_ID=0, unsigned int nDesiredFeatures=0, const TImageROI &ROI=TImageROI())
	Extract features from the image based on the KLT method.
void	extractFeaturesBCD (const CMRPTImage &img, CFeatureList &feats, unsigned int init_ID=0, unsigned int nDesiredFeatures=0, const TImageROI &ROI=TImageROI())
	Extract features from the image based on the BCD method.
void	extractFeaturesSIFT (const CMRPTImage &img, CFeatureList &feats, unsigned int init_ID=0, unsigned int nDesiredFeatures=0, const TImageROI &ROI=TImageROI())
	Extract features from the image based on the SIFT method.
void	extractFeaturesSURF (const CMRPTImage &img, CFeatureList &feats, unsigned int init_ID=0, unsigned int nDesiredFeatures=0, const TImageROI &ROI=TImageROI())
	Extract features from the image based on the SURF method.
void *	my_scale_space_extrema (CFeatureList &featList, void *dog_pyr, int octvs, int intvls, double contr_thr, int curv_thr, void *storage)
	Computes extrema in the scale space.
void	my_adjust_for_img_dbl (void *features)
	Adjust scale if the image was initially doubled.
void	getTimesExtrema (void *dog_pyr, int octvs, int intvls, float row, float col, unsigned int &nMin, unsigned int &nMax)
	Gets the number of times that a point in the image is higher or lower than the surroundings in the image-scale space.
double	getLaplacianValue (void *dog_pyr, int octvs, int intvls, float row, float col)
	Computes the Laplacian value of the feature in the corresponing image in the pyramid.
void	insertCvSeqInCFeatureList (void *features, CFeatureList &list, unsigned int init_ID=0)
	Append a sequence of openCV features into an MRPT feature list.
void	convertCvSeqInCFeatureList (void *features, CFeatureList &list, unsigned int init_ID=0, const TImageROI &ROI=TImageROI())
	Converts a sequence of openCV features into an MRPT feature list.
bool	launchExternalApp (char *command)
	Launch an external process (for internal use only).

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Detailed Description

Definition at line 43 of file CFeatureExtraction.h.

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Member Enumeration Documentation

enum mrpt::vision::CFeatureExtraction::TMethodExtraction

Enumerator:

extMethodKLT
extMethodHarris
extMethodBCD
extMethodSIFT
extMethodSURF

Definition at line 48 of file CFeatureExtraction.h.

enum mrpt::vision::CFeatureExtraction::TSIFTImplementation

Enumerator:

LoweBinary
CSBinary
VedaldiBinary
Hess

Definition at line 57 of file CFeatureExtraction.h.

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Constructor & Destructor Documentation

mrpt::vision::CFeatureExtraction::CFeatureExtraction

(

)

Constructor.

virtual mrpt::vision::CFeatureExtraction::~CFeatureExtraction

(

)

[virtual]

Virtual destructor.

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Member Function Documentation

void mrpt::vision::CFeatureExtraction::computeSiftDescriptors	(	const CMRPTImage &	in_img,
		CFeatureList &	in_features
	)

Compute the SIFT descriptor of the provided features into the input image.

Parameters:

	in_img	(input) The image from where to compute the descriptors.
	in_features	(input/output) The list of features whose descriptors are going to be computed.

void mrpt::vision::CFeatureExtraction::convertCvSeqInCFeatureList	(	void *	features,
		CFeatureList &	list,
		unsigned int	init_ID = 0,
		const TImageROI &	ROI = TImageROI()
	)			[private]

Converts a sequence of openCV features into an MRPT feature list.

Parameters:

	features	The sequence of features.
	list	[in-out] The list of MRPT features.
	init_ID	[in][optional] The initial ID for the features (default = 0).
	ROI	[in][optional] The initial ID for the features (default = empty ROI -> not used).

void mrpt::vision::CFeatureExtraction::detectFeatures	(	const CMRPTImage &	img,
		CFeatureList &	feats,
		unsigned int	init_ID = 0,
		unsigned int	nDesiredFeatures = 0,
		const TImageROI &	ROI = TImageROI()
	)

Extract features from the image based on the method defined in TOptions.

Parameters:

	img	(input) The image from where to extract the images.
	feats	(output) A complete list of features (containing a patch for each one of them).
	nDesiredFeatures	(op. input) Number of features to be extracted. Default: authomatic.
	ROI	(op. input) Region of Interest. Default: All the image.

void mrpt::vision::CFeatureExtraction::extractFeaturesBCD	(	const CMRPTImage &	img,
		CFeatureList &	feats,
		unsigned int	init_ID = 0,
		unsigned int	nDesiredFeatures = 0,
		const TImageROI &	ROI = TImageROI()
	)			[private]

Extract features from the image based on the BCD method.

Parameters:

	img	The image from where to extract the images.
	feats	The list of extracted features.
	nDesiredFeatures	Number of features to be extracted. Default: authomatic.
	ROI	(op. input) Region of Interest. Default: All the image.

void mrpt::vision::CFeatureExtraction::extractFeaturesKLT	(	const CMRPTImage &	img,
		CFeatureList &	feats,
		unsigned int	init_ID = 0,
		unsigned int	nDesiredFeatures = 0,
		const TImageROI &	ROI = TImageROI()
	)			[private]

Extract features from the image based on the KLT method.

Parameters:

	img	The image from where to extract the images.
	feats	The list of extracted features.
	nDesiredFeatures	Number of features to be extracted. Default: authomatic.
	ROI	(op. input) Region of Interest. Default: All the image.

void mrpt::vision::CFeatureExtraction::extractFeaturesKLT	(	const CMRPTImage &	img,
		CFeatureList &	feats,
		unsigned int	init_ID = 0,
		unsigned int	nDesiredFeatures = 0,
		unsigned int	x_min = 0,
		unsigned int	x_length = 0,
		unsigned int	y_min = 0,
		unsigned int	y_length = 0
	)			[private]

Extract features from the image based on the KLT method.

Parameters:

	img	The image from where to extract the images.
	x	Vector containing the feature 'x' coordinates.
	y	Vector containing the feature 'y' coordinates.
	nDesiredFeatures	Number of features to be extracted. Default: authomatic.
	x_min	Minimum x coordinate in the image where the extraction is performed. Default: All the image.
	x_length	X Length of the region of interest. Default: All the image.
	y_min	Minimum y coordinate in the image where the extraction is performed. Default: All the image.
	y_length	X Length of the region of interest. Default: All the image.

void mrpt::vision::CFeatureExtraction::extractFeaturesSIFT	(	const CMRPTImage &	img,
		CFeatureList &	feats,
		unsigned int	init_ID = 0,
		unsigned int	nDesiredFeatures = 0,
		const TImageROI &	ROI = TImageROI()
	)			[private]

Extract features from the image based on the SIFT method.

Parameters:

	img	The image from where to extract the images.
	feats	The list of extracted features.
	nDesiredFeatures	Number of features to be extracted. Default: authomatic.
	ROI	(op. input) Region of Interest. Default: All the image.

void mrpt::vision::CFeatureExtraction::extractFeaturesSURF	(	const CMRPTImage &	img,
		CFeatureList &	feats,
		unsigned int	init_ID = 0,
		unsigned int	nDesiredFeatures = 0,
		const TImageROI &	ROI = TImageROI()
	)			[private]

Extract features from the image based on the SURF method.

Parameters:

	img	The image from where to extract the images.
	feats	The list of extracted features.
	nDesiredFeatures	Number of features to be extracted. Default: authomatic.
	ROI	(op. input) Region of Interest. Default: All the image.

void mrpt::vision::CFeatureExtraction::findMoreFeatures	(	const CMRPTImage &	img,
		const CFeatureList &	inList,
		CFeatureList &	outList,
		unsigned int	nDesiredFeats = 0
	)

Extract more features from the image (apart from the provided ones) based on the method defined in TOptions .

Parameters:

	img	(input) The image from where to extract the images.
	inList	(input) The actual features in the image
	outList	(output) The list of new features (containing a patch for each one of them).
	nDesiredFeatures	(op. input) Number of features to be extracted. Default: authomatic.

double mrpt::vision::CFeatureExtraction::getLaplacianValue	(	void *	dog_pyr,
		int	octvs,
		int	intvls,
		float	row,
		float	col
	)			[private]

Computes the Laplacian value of the feature in the corresponing image in the pyramid.

Parameters:

	dog_pyr	Pyramid of images.
	octvs	Number of considered octaves.
	intvls	Number of intervales in octaves.
	row	The row of the feature in the original image.
	col	The column of the feature in the original image.

void mrpt::vision::CFeatureExtraction::getTimesExtrema	(	void *	dog_pyr,
		int	octvs,
		int	intvls,
		float	row,
		float	col,
		unsigned int &	nMin,
		unsigned int &	nMax
	)			[private]

Gets the number of times that a point in the image is higher or lower than the surroundings in the image-scale space.

Parameters:

	dog_pyr	Pyramid of images.
	octvs	Number of considered octaves.
	intvls	Number of intervales in octaves.
	row	The row of the feature in the original image.
	col	The column of the feature in the original image.
	nMin	[out]: Times that the feature is lower than the surroundings.
	nMax	[out]: Times that the feature is higher than the surroundings.

void mrpt::vision::CFeatureExtraction::insertCvSeqInCFeatureList	(	void *	features,
		CFeatureList &	list,
		unsigned int	init_ID = 0
	)			[private]

Append a sequence of openCV features into an MRPT feature list.

Parameters:

	features	The sequence of features.
	list	[in-out] The list of MRPT features.
	init_ID	[in] The initial ID for the new features.

bool mrpt::vision::CFeatureExtraction::launchExternalApp

(

char *

command

)

[private]

Launch an external process (for internal use only).

Parameters:

command

[in] The char array containing the command (with parameters)

void mrpt::vision::CFeatureExtraction::my_adjust_for_img_dbl

(

void *

features

)

[private]

Adjust scale if the image was initially doubled.

Parameters:

features

The sequence of features.

void* mrpt::vision::CFeatureExtraction::my_scale_space_extrema	(	CFeatureList &	featList,
		void *	dog_pyr,
		int	octvs,
		int	intvls,
		double	contr_thr,
		int	curv_thr,
		void *	storage
	)			[private]

Computes extrema in the scale space.

Parameters:

	dog_pyr	Pyramid of images.
	octvs	Number of considered octaves.
	intvls	Number of intervales in octaves.

void mrpt::vision::CFeatureExtraction::selectGoodFeaturesKLT	(	const CMRPTImage &	inImg,
		CFeatureList &	feats,
		unsigned int	init_ID = 0,
		unsigned int	nDesiredFeatures = 0,
		void *	mask_ = NULL
	)			[private]

Extract features from the image based on the Harris method.

Parameters:

	img	The image from where to extract the images.
	x	Vector containing the feature 'x' coordinates.
	y	Vector containing the feature 'y' coordinates.
	nDesiredFeatures	Number of features to be extracted. Default: authomatic.
	x_min	Minimum x coordinate in the image where the extraction is performed. Default: All the image.
	x_length	X Length of the region of interest. Default: All the image.
	y_min	Minimum y coordinate in the image where the extraction is performed. Default: All the image.
	y_length	X Length of the region of interest. Default: All the image. / void extractFeaturesHarris( const CMRPTImageFloat &img, vector_float &x, vector_float &y, int nDesiredFeatures = -1, unsigned int x_min = 0, unsigned int x_length = 0, unsigned int y_min = 0, unsigned int y_length = 0); / Extract features from the image based on the Harris method employing the classical algorithm.
	img	The image from where to extract the images.
	x	Vector containing the feature 'x' coordinates.
	y	Vector containing the feature 'y' coordinates.
	nDesiredFeatures	Number of features to be extracted. Default: authomatic.
	x_min	Minimum x coordinate in the image where the extraction is performed. Default: All the image.
	y_min	Minimum y coordinate in the image where the extraction is performed. Default: All the image. / void HarrisCommon( const CMRPTImageFloat &imgR, vector_float &x, vector_float &y, int nDesiredFeatures, unsigned int x_min, unsigned int y_min); / Extract features from the image based on the Harris method and distributing the features over the image.
	img	The image from where to extract the images.
	x	Vector containing the feature 'x' coordinates.
	y	Vector containing the feature 'y' coordinates.
	nDesiredFeatures	Number of features to be extracted. Default: authomatic.
	x_min	Minimum x coordinate in the image where the extraction is performed. Default: All the image.
	y_min	Minimum y coordinate in the image where the extraction is performed. Default: All the image. / void HarrisMask( const CMRPTImageFloat &imgR, vector_float &x, vector_float &y, int nDesiredFeatures, unsigned int x_min, unsigned int y_min); / Select good features using the openCV implementation of the KLT method.
	img	(input) The image from where to select extract the images.
	feats	(output) A complete list of features (containing a patch for each one of them).
	nDesiredFeatures	(op. input) Number of features to be extracted. Default: authomatic.
	omitPixels	(op. input) A mask for determining the ROI. (0: do not omit this pixel, 1: omit this pixel)

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Member Data Documentation

struct MRPTDLLIMPEXP mrpt::vision::CFeatureExtraction::TOptions mrpt::vision::CFeatureExtraction::options