mrpt::vision Namespace Reference

Classes for computer vision, detectors, features, etc. More...

Namespaces

namespace pinhole

Functions related to pinhole camera models, point projections, etc.

Classes

struct TCamera

AJOGD Estructura para almacenar los datos de la camara para MONOSLAM. More...

class CCamModel

This class represent the camera model for Monocular SLAM. More...

class CFeature

A generic 2D feature from an image. More...

class CFeatureList

A list of features. More...

class CMatchedFeatureList

A list of features. More...

class CFeatureExtraction

class CGaussianConvolutionKernel

This class represents a generic "convolution kernel", that can actually represent any Gaussian or DOG filter. More...

class CImageConvolution

This class performs filtering on a image based on Gaussian or DOG filters. More...

struct TCaptureOptions_dc1394

Options used when creating an dc1394 capture object All but the frame size, framerate, and color_coding can be changed dynamically by CImageGrabber_dc1394::changeCaptureOptions. More...

class CImageGrabber_dc1394

A class for grabing images from a IEEE1394 (Firewire) camera using the libdc1394-2 library. More...

struct TCaptureCVOptions

Options used when creating an OpenCV capture object Some options apply to IEEE1394 cameras only. More...

class CImageGrabber_OpenCV

A class for grabing images from a "OpenCV"-compatible camera, or from an AVI video file. More...

class CStereoGrabber_Bumblebee

A class for grabing stereo images from a "Bumblebee" camera NOTE:

This class is only available when compiling MRPT with "#define MRPT_HAS_BUMBLEBEE 1" in the "config.h".
More...

class CStereoImagesTo3D

A class for processing a pair of stereo images and generateing a disparity image and/or a 3D landmarks map. More...

class CStereoServerBumblebee

struct TOdometryOptions

A structure containing options for the visual odometry. More...

class CVisualOdometryStereo

Visual odometry for stereo cameras. More...

struct TStereoSystemParams

Parameters associated to a stereo system. More...

struct TPixelCoordf

A pair (x,y) of pixel coordinates (subpixel resolution). More...

struct TPixelCoord

A pair (x,y) of pixel coordinates (integer resolution). More...

struct TROI

A structure for storing a 3D ROI. More...

struct TImageROI

A structure for defining a ROI within an image. More...

struct TMatchingOptions

A structure containing options for the matching. More...

struct TImageCalibData

Data associated to each image in the calibration process mrpt::vision::checkerBoardCameraCalibration (All the information can be left empty and will be filled up in the calibration method). More...

Typedefs

typedef uint64_t TFeatureID

Definition of a feature ID.

typedef uint64_t TLandmarkID

Landmark ID.

typedef std::map< std::string,
TImageCalibData > TCalibrationImageList

A list of images, used in checkerBoardCameraCalibration.

Enumerations

enum TFeatureType {
  featSIFT, featKLT, featHarris, featSURF,
  featNotDefined
}

Types of features. More...

enum TKLTFeatureStatus {
  statusKLT_IDLE, statusKLT_OOB, statusKLT_SMALL_DET, statusKLT_LARGE_RESIDUE,
  statusKLT_MAX_RESIDUE, statusKLT_TRACKED, statusKLT_MAX_ITERATIONS
}

enum grabber_dc1394_framerate_t {
  FRAMERATE_1_875 = 32, FRAMERATE_3_75, FRAMERATE_7_5, FRAMERATE_15,
  FRAMERATE_30, FRAMERATE_60, FRAMERATE_120, FRAMERATE_240
}

enum grabber_dc1394_color_coding_t {
  COLOR_CODING_MONO8 = 352, COLOR_CODING_YUV411, COLOR_CODING_YUV422, COLOR_CODING_YUV444,
  COLOR_CODING_RGB8, COLOR_CODING_MONO16
}

enum TCameraType {
  CAMERA_CV_AUTODETECT = 0, CAMERA_CV_DC1394, CAMERA_CV_VFL, CAMERA_CV_VFW,
  CAMERA_CV_MIL
}

These capture types are like their OpenCV equivalents. More...

enum TColormap { cmGRAYSCALE = 0, cmJET }

Different colormaps. More...

enum TInterpolationMethod { imNEAREST = 0, imBILINEAR, imBICUBIC, imAREA }

Interpolation methods (as defined in OpenCV) Used for OpenCV related operations with images, but also with MRPT native classes. More...

Functions

void MRPTDLLIMPEXP openCV_cross_correlation (const CMRPTImage &img, const CMRPTImage &patch_img, size_t &x_max, size_t &y_max, double &max_val, int x_search_ini=-1, int y_search_ini=-1, int x_search_size=-1, int y_search_size=-1)

Computes the correlation between this image and another one, encapsulating the openCV function cvMatchTemplate This implementation reduced computation time.

void MRPTDLLIMPEXP flip (CMRPTImage &img)

Invert an image using OpenCV function.

poses::CPoint3D MRPTDLLIMPEXP pixelTo3D (float x, float y, const CMatrix &A)

Extract a UNITARY 3D vector in the direction of a 3D point, given from its (x,y) pixels coordinates, and the camera intrinsic coordinates.

CMatrix MRPTDLLIMPEXP buildIntrinsicParamsMatrix (float focalLengthX, float focalLengthY, float centerX, float centerY)

Builds the intrinsic parameters matrix A from parameters:.

CMatrix MRPTDLLIMPEXP defaultIntrinsicParamsMatrix (unsigned int camIndex=0, unsigned int resolutionX=320, unsigned int resolutionY=240)

Returns the stored, default intrinsic params matrix for a given camera:.

void MRPTDLLIMPEXP deleteRepeatedFeats (CFeatureList &list)

Explore the feature list and removes features which are in the same coordinates.

void MRPTDLLIMPEXP rowChecking (CFeatureList &leftList, CFeatureList &rightList, float threshold=0.0)

Computes ONLY the SIFT descriptors of a set of features .

void MRPTDLLIMPEXP checkTrackedFeatures (CFeatureList &leftList, CFeatureList &rightList, vision::TMatchingOptions options)

Search for correspondences which are not in the same row and deletes them

void MRPTDLLIMPEXP getDispersion (const CFeatureList &list, vector_float &std, vector_float &mean)

Computes the dispersion of the features in the image.

void MRPTDLLIMPEXP trackFeatures (const CMRPTImage &inImg1, const CMRPTImage &inImg2, vision::CFeatureList &featureList, const unsigned int &window_width=7, const unsigned int &window_height=7)

Tracks a set of features in an image.

void MRPTDLLIMPEXP filterBadCorrsByDistance (mrpt::slam::CMetricMap::TMatchingPairList &list, unsigned int numberOfSigmas)

Filter bad correspondences by distance

void MRPTDLLIMPEXP correctDistortion (CMRPTImage &in_img, CMRPTImage &out_img, CMatrix A, CMatrix dist_coeffs)

Returns a new image where distortion has been removed.

void MRPTDLLIMPEXP hsv2rgb (float h, float s, float v, float &r, float &g, float &b)

Transform HSV color components to RGB, all of them in the range [0,1].

void MRPTDLLIMPEXP rgb2hsv (float r, float g, float b, float &h, float &s, float &v)

Transform RGB color components to HSV, all of them in the range [0,1].

void MRPTDLLIMPEXP colormap (const TColormap &color_map, const float &color_index, float &r, float &g, float &b)

Transform a float number in the range [0,1] into RGB components.

void MRPTDLLIMPEXP jet2rgb (const float &color_index, float &r, float &g, float &b)

Computes the RGB color components (range [0,1]) for the corresponding color index in the range [0,1] using the MATLAB 'jet' colormap.

double MRPTDLLIMPEXP computeMsd (const mrpt::slam::CMetricMap::TMatchingPairList &list, const mrpt::poses::CPose3D &Rt)

Computes the mean squared distance between a set of 3D correspondences

void MRPTDLLIMPEXP cloudsToMatchedList (const mrpt::slam::CObservationVisualLandmarks &cloud1, const mrpt::slam::CObservationVisualLandmarks &cloud2, mrpt::slam::CMetricMap::TMatchingPairList &outList)

Transform two clouds of 3D points into a matched list of points

float MRPTDLLIMPEXP computeMainOrientation (const CMRPTImage &image, const unsigned int &x, const unsigned int &y)

Computes the main orientation of a set of points with an image (for using in SIFT-based algorithms).

size_t MRPTDLLIMPEXP matchFeatures (const CFeatureList &list1, const CFeatureList &list2, CMatchedFeatureList &matches, const TMatchingOptions &options=TMatchingOptions())

Find the matches between two lists of features.

void MRPTDLLIMPEXP projectMatchedFeatures (CMatchedFeatureList &mfList, const vision::TStereoSystemParams &param, mrpt::slam::CLandmarksMap &landmarks)

Project a list of matched features into the 3D space, using the provided options for the stereo system.

bool MRPTDLLIMPEXP checkerBoardCameraCalibration (TCalibrationImageList &images, unsigned int check_size_x, unsigned int check_size_y, double check_squares_length_X_meters, double check_squares_length_Y_meters, CMatrixDouble &intrinsicParams, std::vector< double > &distortionParams, bool normalize_image=true)

Performs a camera calibration (computation of projection and distortion parameters) from a sequence of captured images of a checkerboard.

Variables

class MRPTDLLIMPEXP CFeatureList

class MRPTDLLIMPEXP CMatchedFeatureList

Detailed Description

Classes for computer vision, detectors, features, etc.

Typedef Documentation

typedef std::map<std::string,TImageCalibData> mrpt::vision::TCalibrationImageList

A list of images, used in checkerBoardCameraCalibration.

See also:: checkerBoardCameraCalibration

Definition at line 533 of file vision/utils.h.

typedef uint64_t mrpt::vision::TFeatureID

Definition of a feature ID.

Definition at line 44 of file CFeature.h.

typedef uint64_t mrpt::vision::TLandmarkID

Landmark ID.

Definition at line 61 of file vision/utils.h.

Enumeration Type Documentation

enum mrpt::vision::grabber_dc1394_color_coding_t

Enumerator:

COLOR_CODING_MONO8
COLOR_CODING_YUV411
COLOR_CODING_YUV422
COLOR_CODING_YUV444
COLOR_CODING_RGB8
COLOR_CODING_MONO16

Definition at line 52 of file CImageGrabber_dc1394.h.

enum mrpt::vision::grabber_dc1394_framerate_t

Enumerator:

FRAMERATE_1_875
FRAMERATE_3_75
FRAMERATE_7_5
FRAMERATE_15
FRAMERATE_30
FRAMERATE_60
FRAMERATE_120
FRAMERATE_240

Definition at line 41 of file CImageGrabber_dc1394.h.

enum mrpt::vision::TCameraType

These capture types are like their OpenCV equivalents.

Enumerator:

CAMERA_CV_AUTODETECT
CAMERA_CV_DC1394
CAMERA_CV_VFL
CAMERA_CV_VFW
CAMERA_CV_MIL

Definition at line 41 of file CImageGrabber_OpenCV.h.

enum mrpt::vision::TColormap

Different colormaps.

See also:: mrpt::vision::colormap

Enumerator:

cmGRAYSCALE
cmJET

Definition at line 435 of file vision/utils.h.

enum mrpt::vision::TFeatureType

Types of features.

Enumerator:

featSIFT	Scale Invariant Feature Transform [LOWE'04].
featKLT	Kanade-Lucas-Tomasi feature [SHI'94].
featHarris	Harris border and corner detector [HARRIS].
featSURF	Speeded Up Robust Feature [BAY'06].
featNotDefined	Non-defined feature.

Definition at line 47 of file CFeature.h.

enum mrpt::vision::TInterpolationMethod

Interpolation methods (as defined in OpenCV) Used for OpenCV related operations with images, but also with MRPT native classes.

See also:: mrpt::utils::CMappedImage

Enumerator:

imNEAREST	No interpolation.
imBILINEAR	Bilinear interpolation.
imBICUBIC	Bilinear interpolation.
imAREA	Resampling using pixel-area relation.

Definition at line 463 of file vision/utils.h.

enum mrpt::vision::TKLTFeatureStatus

Enumerator:

statusKLT_IDLE	Inactive.
statusKLT_OOB	Out Of Bounds.
statusKLT_SMALL_DET	Determinant of the matrix too small.
statusKLT_LARGE_RESIDUE	Error too big.
statusKLT_MAX_RESIDUE
statusKLT_TRACKED	Feature correctly tracked.
statusKLT_MAX_ITERATIONS	Iteration maximum reached.

Definition at line 66 of file CFeature.h.

Function Documentation

CMatrix MRPTDLLIMPEXP mrpt::vision::buildIntrinsicParamsMatrix	(	float	focalLengthX,
		float	focalLengthY,
		float	centerX,
		float	centerY
	)

Builds the intrinsic parameters matrix A from parameters:.

Parameters:

	focalLengthX	The focal length, in X (horizontal) pixels
	focalLengthY	The focal length, in Y (vertical) pixels
	centerX	The image center, horizontal, in pixels
	centerY	The image center, vertical, in pixels

This method returns the matrix:

f_x	0	cX
0	f_y	cY
0	0	1

See also the tutorial discussing the camera model parameters.

See also:: defaultIntrinsicParamsMatrix, pixelTo3D

bool MRPTDLLIMPEXP mrpt::vision::checkerBoardCameraCalibration	(	TCalibrationImageList &	images,
		unsigned int	check_size_x,
		unsigned int	check_size_y,
		double	check_squares_length_X_meters,
		double	check_squares_length_Y_meters,
		CMatrixDouble &	intrinsicParams,
		std::vector< double > &	distortionParams,
		bool	normalize_image = `true`
	)

Performs a camera calibration (computation of projection and distortion parameters) from a sequence of captured images of a checkerboard.

Parameters:

	input_images	[IN/OUT] At input, this list must have one entry for each image to process. At output the original, detected checkboard and rectified images can be found here. See TImageCalibData.
	check_size_x	[IN] The number of squares in the checkerboard in the X direction.
	check_size_y	[IN] The number of squares in the checkerboard in the Y direction.
	check_squares_length_X_meters	[IN] The size of each square in the checkerboard, in meters, in the X axis.
	check_squares_length_Y_meters	[IN] This will typically be equal to check_squares_length_X_meters.
	intrinsicParams	[OUT] The 3x3 intrinsic parameters matrix. See http://babel.isa.uma.es/mrpt/index.php/Camera_Parameters
	distortionParams	[OUT] The 1x4 vector of distortion parameters: k1 k2 p1 p2. See http://babel.isa.uma.es/mrpt/index.php/Camera_Parameters
	normalize_image	[IN] Select OpenCV flag

See also:: The camera-calib-gui application is a user-friendly GUI to this class.

Returns:: false on any error (more info will be dumped to cout), or true on success.

void MRPTDLLIMPEXP mrpt::vision::checkTrackedFeatures	(	CFeatureList &	leftList,
		CFeatureList &	rightList,
		vision::TMatchingOptions	options
	)

Search for correspondences which are not in the same row and deletes them

..

void MRPTDLLIMPEXP mrpt::vision::cloudsToMatchedList	(	const mrpt::slam::CObservationVisualLandmarks &	cloud1,
		const mrpt::slam::CObservationVisualLandmarks &	cloud2,
		mrpt::slam::CMetricMap::TMatchingPairList &	outList
	)

Transform two clouds of 3D points into a matched list of points

..

void MRPTDLLIMPEXP mrpt::vision::colormap	(	const TColormap &	color_map,
		const float &	color_index,
		float &	r,
		float &	g,
		float &	b
	)

Transform a float number in the range [0,1] into RGB components.

Different colormaps are available.

float MRPTDLLIMPEXP mrpt::vision::computeMainOrientation	(	const CMRPTImage &	image,
		const unsigned int &	x,
		const unsigned int &	y
	)

Computes the main orientation of a set of points with an image (for using in SIFT-based algorithms).

Parameters:

	image	(Input). The input image.
	x	(Input). A vector containing the 'x' coordinates of the image points.
	y	(Input). A vector containing the 'y' coordinates of the image points.
	orientation	(Output). A vector containing the main orientation of the image points.

double MRPTDLLIMPEXP mrpt::vision::computeMsd	(	const mrpt::slam::CMetricMap::TMatchingPairList &	list,
		const mrpt::poses::CPose3D &	Rt
	)

Computes the mean squared distance between a set of 3D correspondences

..

void MRPTDLLIMPEXP mrpt::vision::correctDistortion	(	CMRPTImage &	in_img,
		CMRPTImage &	out_img,
		CMatrix	A,
		CMatrix	dist_coeffs
	)

Returns a new image where distortion has been removed.

Parameters:

	A	The 3x3 intrinsic parameters matrix
	dist_coeffs	The 1x4 vector of distortion coefficients

CMatrix MRPTDLLIMPEXP mrpt::vision::defaultIntrinsicParamsMatrix	(	unsigned int	camIndex = `0`,
		unsigned int	resolutionX = `320`,
		unsigned int	resolutionY = `240`
	)

Returns the stored, default intrinsic params matrix for a given camera:.

Parameters:

	camIndex	Posible values are listed next.
	resolutionX	The number of pixel columns
	resolutionY	The number of pixel rows

The matrix is generated for the indicated camera resolution configuration. The following table summarizes the current supported cameras and the values as ratios of the corresponding horz. or vert. resolution:

camIndex	Manufacturer	Camera model	fx	fy	cx	cy
0	Point Grey Research	Bumblebee	0.79345	1.05793	0.55662	0.52692
1	Sony	???	0.95666094	1.3983423f	0.54626328f	0.4939191f

See also:: buildIntrinsicParamsMatrix, pixelTo3D

void MRPTDLLIMPEXP mrpt::vision::deleteRepeatedFeats ( CFeatureList & list )

Explore the feature list and removes features which are in the same coordinates.

Parameters:

list

(Input). The list of features.

void MRPTDLLIMPEXP mrpt::vision::filterBadCorrsByDistance	(	mrpt::slam::CMetricMap::TMatchingPairList &	list,
		unsigned int	numberOfSigmas
	)

Filter bad correspondences by distance

..

void MRPTDLLIMPEXP mrpt::vision::flip ( CMRPTImage & img )

Invert an image using OpenCV function.

void MRPTDLLIMPEXP mrpt::vision::getDispersion	(	const CFeatureList &	list,
		vector_float &	std,
		vector_float &	mean
	)

Computes the dispersion of the features in the image.

Parameters:

	list	(IN) Inpute list of features
	std	(OUT) 2 element vector containing the standard deviations in the 'x' and 'y' coordinates.
	mean	(OUT) 2 element vector containing the mean in the 'x' and 'y' coordinates.

void MRPTDLLIMPEXP mrpt::vision::hsv2rgb	(	float	h,
		float	s,
		float	v,
		float &	r,
		float &	g,
		float &	b
	)

Transform HSV color components to RGB, all of them in the range [0,1].

See also:: rgb2hsv

void MRPTDLLIMPEXP mrpt::vision::jet2rgb	(	const float &	color_index,
		float &	r,
		float &	g,
		float &	b
	)

Computes the RGB color components (range [0,1]) for the corresponding color index in the range [0,1] using the MATLAB 'jet' colormap.

See also:: colormap

size_t MRPTDLLIMPEXP mrpt::vision::matchFeatures	(	const CFeatureList &	list1,
		const CFeatureList &	list2,
		CMatchedFeatureList &	matches,
		const TMatchingOptions &	options = `TMatchingOptions()`
	)

Find the matches between two lists of features.

They must be of the same type. Return value: the number of matched pairs of features

Parameters:

	list1	(Input). One list.
	list2	(Input). Other list.
	matches	(Output). A vector of pairs of correspondences.
	options	(Optional Input). A struct containing matching options

void MRPTDLLIMPEXP mrpt::vision::openCV_cross_correlation	(	const CMRPTImage &	img,
		const CMRPTImage &	patch_img,
		size_t &	x_max,
		size_t &	y_max,
		double &	max_val,
		int	x_search_ini = `-1`,
		int	y_search_ini = `-1`,
		int	x_search_size = `-1`,
		int	y_search_size = `-1`
	)

Computes the correlation between this image and another one, encapsulating the openCV function cvMatchTemplate This implementation reduced computation time.

Parameters:

	patch_img	The "patch" image, which must be equal, or smaller than "this" image. This function supports gray-scale (1 channel only) images.
	x_search_ini	The "x" coordinate of the search window.
	y_search_ini	The "y" coordinate of the search window.
	x_search_size	The width of the search window.
	y_search_size	The height of the search window.
	x_max	The x coordinate where found the maximun cross correlation value.
	y_max	The y coordinate where found the maximun cross correlation value
	max_val	The maximun value of cross correlation which we can find Note: By default, the search area is the whole (this) image.

See also:: cross_correlation

poses::CPoint3D MRPTDLLIMPEXP mrpt::vision::pixelTo3D	(	float	x,
		float	y,
		const CMatrix &	A
	)

Extract a UNITARY 3D vector in the direction of a 3D point, given from its (x,y) pixels coordinates, and the camera intrinsic coordinates.

Parameters:

	x	Pixels coordinates, from the top-left corner of the image.
	y	Pixels coordinates, from the top-left corner of the image.
	A	The 3x3 intrinsic parameters matrix for the camera.

See also:: buildIntrinsicParamsMatrix, defaultIntrinsicParamsMatrix

void MRPTDLLIMPEXP mrpt::vision::projectMatchedFeatures	(	CMatchedFeatureList &	mfList,
		const vision::TStereoSystemParams &	param,
		mrpt::slam::CLandmarksMap &	landmarks
	)

Project a list of matched features into the 3D space, using the provided options for the stereo system.

Parameters:

	matches	(Input). The list of matched features.
	options	(Input). The options of the stereo system.
	landmarks	(Output). A map containing the projected landmarks.

void MRPTDLLIMPEXP mrpt::vision::rgb2hsv	(	float	r,
		float	g,
		float	b,
		float &	h,
		float &	s,
		float &	v
	)

Transform RGB color components to HSV, all of them in the range [0,1].

See also:: hsv2rgb

void MRPTDLLIMPEXP mrpt::vision::rowChecking	(	CFeatureList &	leftList,
		CFeatureList &	rightList,
		float	threshold = `0.0`
	)

Computes ONLY the SIFT descriptors of a set of features .

.. ... / void computeSiftDescriptors( const CMRPTImage &in_img, CKanadeLucasTomasi::TKLTFeatureList &in_features, TSIFTFeatureList &out_features); / ** Computes a set of features with the SIFT algorithm... ... / void computeSiftFeatures( const CMRPTImage &in_img, TSIFTFeatureList &out_features, int wantedNumberOfFeatures = 150 );

/ ** Search for correspondences which are not in the same row and deletes them ...

void MRPTDLLIMPEXP mrpt::vision::trackFeatures	(	const CMRPTImage &	inImg1,
		const CMRPTImage &	inImg2,
		vision::CFeatureList &	featureList,
		const unsigned int &	window_width = `7`,
		const unsigned int &	window_height = `7`
	)

Tracks a set of features in an image.

Variable Documentation

class MRPTDLLIMPEXP mrpt::vision::CFeatureList

Definition at line 39 of file CFeature.h.

class MRPTDLLIMPEXP mrpt::vision::CMatchedFeatureList

Definition at line 40 of file CFeature.h.


Namespaces
namespace	pinhole
	Functions related to pinhole camera models, point projections, etc.
Classes
struct	TCamera
	AJOGD Estructura para almacenar los datos de la camara para MONOSLAM. More...
class	CCamModel
	This class represent the camera model for Monocular SLAM. More...
class	CFeature
	A generic 2D feature from an image. More...
class	CFeatureList
	A list of features. More...
class	CMatchedFeatureList
	A list of features. More...
class	CFeatureExtraction
class	CGaussianConvolutionKernel
	This class represents a generic "convolution kernel", that can actually represent any Gaussian or DOG filter. More...
class	CImageConvolution
	This class performs filtering on a image based on Gaussian or DOG filters. More...
struct	TCaptureOptions_dc1394
	Options used when creating an dc1394 capture object All but the frame size, framerate, and color_coding can be changed dynamically by CImageGrabber_dc1394::changeCaptureOptions. More...
class	CImageGrabber_dc1394
	A class for grabing images from a IEEE1394 (Firewire) camera using the libdc1394-2 library. More...
struct	TCaptureCVOptions
	Options used when creating an OpenCV capture object Some options apply to IEEE1394 cameras only. More...
class	CImageGrabber_OpenCV
	A class for grabing images from a "OpenCV"-compatible camera, or from an AVI video file. More...
class	CStereoGrabber_Bumblebee
	A class for grabing stereo images from a "Bumblebee" camera NOTE: This class is only available when compiling MRPT with "#define MRPT_HAS_BUMBLEBEE 1" in the "config.h". More...
class	CStereoImagesTo3D
	A class for processing a pair of stereo images and generateing a disparity image and/or a 3D landmarks map. More...
class	CStereoServerBumblebee
struct	TOdometryOptions
	A structure containing options for the visual odometry. More...
class	CVisualOdometryStereo
	Visual odometry for stereo cameras. More...
struct	TStereoSystemParams
	Parameters associated to a stereo system. More...
struct	TPixelCoordf
	A pair (x,y) of pixel coordinates (subpixel resolution). More...
struct	TPixelCoord
	A pair (x,y) of pixel coordinates (integer resolution). More...
struct	TROI
	A structure for storing a 3D ROI. More...
struct	TImageROI
	A structure for defining a ROI within an image. More...
struct	TMatchingOptions
	A structure containing options for the matching. More...
struct	TImageCalibData
	Data associated to each image in the calibration process mrpt::vision::checkerBoardCameraCalibration (All the information can be left empty and will be filled up in the calibration method). More...
Typedefs
typedef uint64_t	TFeatureID
	Definition of a feature ID.
typedef uint64_t	TLandmarkID
	Landmark ID.
typedef std::map< std::string, TImageCalibData >	TCalibrationImageList
	A list of images, used in checkerBoardCameraCalibration.
Enumerations
enum	TFeatureType { featSIFT, featKLT, featHarris, featSURF, featNotDefined }
	Types of features. More...
enum	TKLTFeatureStatus { statusKLT_IDLE, statusKLT_OOB, statusKLT_SMALL_DET, statusKLT_LARGE_RESIDUE, statusKLT_MAX_RESIDUE, statusKLT_TRACKED, statusKLT_MAX_ITERATIONS }
enum	grabber_dc1394_framerate_t { FRAMERATE_1_875 = 32, FRAMERATE_3_75, FRAMERATE_7_5, FRAMERATE_15, FRAMERATE_30, FRAMERATE_60, FRAMERATE_120, FRAMERATE_240 }
enum	grabber_dc1394_color_coding_t { COLOR_CODING_MONO8 = 352, COLOR_CODING_YUV411, COLOR_CODING_YUV422, COLOR_CODING_YUV444, COLOR_CODING_RGB8, COLOR_CODING_MONO16 }
enum	TCameraType { CAMERA_CV_AUTODETECT = 0, CAMERA_CV_DC1394, CAMERA_CV_VFL, CAMERA_CV_VFW, CAMERA_CV_MIL }
	These capture types are like their OpenCV equivalents. More...
enum	TColormap { cmGRAYSCALE = 0, cmJET }
	Different colormaps. More...
enum	TInterpolationMethod { imNEAREST = 0, imBILINEAR, imBICUBIC, imAREA }
	Interpolation methods (as defined in OpenCV) Used for OpenCV related operations with images, but also with MRPT native classes. More...
Functions
void MRPTDLLIMPEXP	openCV_cross_correlation (const CMRPTImage &img, const CMRPTImage &patch_img, size_t &x_max, size_t &y_max, double &max_val, int x_search_ini=-1, int y_search_ini=-1, int x_search_size=-1, int y_search_size=-1)
	Computes the correlation between this image and another one, encapsulating the openCV function cvMatchTemplate This implementation reduced computation time.
void MRPTDLLIMPEXP	flip (CMRPTImage &img)
	Invert an image using OpenCV function.
poses::CPoint3D MRPTDLLIMPEXP	pixelTo3D (float x, float y, const CMatrix &A)
	Extract a UNITARY 3D vector in the direction of a 3D point, given from its (x,y) pixels coordinates, and the camera intrinsic coordinates.
CMatrix MRPTDLLIMPEXP	buildIntrinsicParamsMatrix (float focalLengthX, float focalLengthY, float centerX, float centerY)
	Builds the intrinsic parameters matrix A from parameters:.
CMatrix MRPTDLLIMPEXP	defaultIntrinsicParamsMatrix (unsigned int camIndex=0, unsigned int resolutionX=320, unsigned int resolutionY=240)
	Returns the stored, default intrinsic params matrix for a given camera:.
void MRPTDLLIMPEXP	deleteRepeatedFeats (CFeatureList &list)
	Explore the feature list and removes features which are in the same coordinates.
void MRPTDLLIMPEXP	rowChecking (CFeatureList &leftList, CFeatureList &rightList, float threshold=0.0)
	Computes ONLY the SIFT descriptors of a set of features .
void MRPTDLLIMPEXP	checkTrackedFeatures (CFeatureList &leftList, CFeatureList &rightList, vision::TMatchingOptions options)
	Search for correspondences which are not in the same row and deletes them
void MRPTDLLIMPEXP	getDispersion (const CFeatureList &list, vector_float &std, vector_float &mean)
	Computes the dispersion of the features in the image.
void MRPTDLLIMPEXP	trackFeatures (const CMRPTImage &inImg1, const CMRPTImage &inImg2, vision::CFeatureList &featureList, const unsigned int &window_width=7, const unsigned int &window_height=7)
	Tracks a set of features in an image.
void MRPTDLLIMPEXP	filterBadCorrsByDistance (mrpt::slam::CMetricMap::TMatchingPairList &list, unsigned int numberOfSigmas)
	Filter bad correspondences by distance
void MRPTDLLIMPEXP	correctDistortion (CMRPTImage &in_img, CMRPTImage &out_img, CMatrix A, CMatrix dist_coeffs)
	Returns a new image where distortion has been removed.
void MRPTDLLIMPEXP	hsv2rgb (float h, float s, float v, float &r, float &g, float &b)
	Transform HSV color components to RGB, all of them in the range [0,1].
void MRPTDLLIMPEXP	rgb2hsv (float r, float g, float b, float &h, float &s, float &v)
	Transform RGB color components to HSV, all of them in the range [0,1].
void MRPTDLLIMPEXP	colormap (const TColormap &color_map, const float &color_index, float &r, float &g, float &b)
	Transform a float number in the range [0,1] into RGB components.
void MRPTDLLIMPEXP	jet2rgb (const float &color_index, float &r, float &g, float &b)
	Computes the RGB color components (range [0,1]) for the corresponding color index in the range [0,1] using the MATLAB 'jet' colormap.
double MRPTDLLIMPEXP	computeMsd (const mrpt::slam::CMetricMap::TMatchingPairList &list, const mrpt::poses::CPose3D &Rt)
	Computes the mean squared distance between a set of 3D correspondences
void MRPTDLLIMPEXP	cloudsToMatchedList (const mrpt::slam::CObservationVisualLandmarks &cloud1, const mrpt::slam::CObservationVisualLandmarks &cloud2, mrpt::slam::CMetricMap::TMatchingPairList &outList)
	Transform two clouds of 3D points into a matched list of points
float MRPTDLLIMPEXP	computeMainOrientation (const CMRPTImage &image, const unsigned int &x, const unsigned int &y)
	Computes the main orientation of a set of points with an image (for using in SIFT-based algorithms).
size_t MRPTDLLIMPEXP	matchFeatures (const CFeatureList &list1, const CFeatureList &list2, CMatchedFeatureList &matches, const TMatchingOptions &options=TMatchingOptions())
	Find the matches between two lists of features.
void MRPTDLLIMPEXP	projectMatchedFeatures (CMatchedFeatureList &mfList, const vision::TStereoSystemParams &param, mrpt::slam::CLandmarksMap &landmarks)
	Project a list of matched features into the 3D space, using the provided options for the stereo system.
bool MRPTDLLIMPEXP	checkerBoardCameraCalibration (TCalibrationImageList &images, unsigned int check_size_x, unsigned int check_size_y, double check_squares_length_X_meters, double check_squares_length_Y_meters, CMatrixDouble &intrinsicParams, std::vector< double > &distortionParams, bool normalize_image=true)
	Performs a camera calibration (computation of projection and distortion parameters) from a sequence of captured images of a checkerboard.
Variables
class MRPTDLLIMPEXP	CFeatureList
class MRPTDLLIMPEXP	CMatchedFeatureList