mrpt::vision::TSequenceFeatureObservations Struct Reference

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Detailed Description

A complete sequence of observations of features from different camera frames (poses).

This structure is the input to some (Bundle-adjustment) methods in mrpt::vision

Note:

Pixel coordinates can be either "raw" or "undistorted". Read the doc of functions handling this structure to see what they expect.

See also:

mrpt::vision::bundle_adj_full

Definition at line 87 of file vision/include/mrpt/vision/types.h.

#include <mrpt/vision/types.h>

Inheritance diagram for mrpt::vision::TSequenceFeatureObservations:

List of all members.

Public Types
typedef std::vector < TFeatureObservation >	BASE
Public Member Functions
	TSequenceFeatureObservations ()
	TSequenceFeatureObservations (size_t size)
	TSequenceFeatureObservations (const TSequenceFeatureObservations &o)
void	saveToTextFile (const std::string &filName, bool skipFirstCommentLine=false) const
	Saves all entries to a text file, with each line having this format: FRAME_ID FEAT_ID PIXEL_X PIXEL_Y The file is self-descripting, since the first line contains a comment line (starting with '') explaining the format.
void	loadFromTextFile (const std::string &filName)
	Load from a text file, in the format described in saveToTextFile Exceptions: std::exception On I/O or format error.
size_t	removeFewObservedFeatures (size_t minNumObservations=3)
	Remove all those features that don't have a minimum number of observations from different camera frame IDs.
void	decimateCameraFrames (const size_t decimate_ratio)
	Remove all but one out of decimate_ratio camera frame IDs from the list (eg: from N camera pose IDs at return there will be just N/decimate_ratio) The algorithm first builds a sorted list of frame IDs, then keep the lowest ID, remove the next "decimate_ratio-1", and so on.
void	compressIDs (std::map< TCameraPoseID, TCameraPoseID > *old2new_camIDs=NULL, std::map< TLandmarkID, TLandmarkID > *old2new_lmIDs=NULL)
	Rearrange frame and feature IDs such as they start at 0 and there are no gaps.

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Member Typedef Documentation

typedef std::vector<TFeatureObservation> mrpt::vision::TSequenceFeatureObservations::BASE

Definition at line 89 of file vision/include/mrpt/vision/types.h.

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Constructor & Destructor Documentation

mrpt::vision::TSequenceFeatureObservations::TSequenceFeatureObservations

(

)

[inline]

Definition at line 91 of file vision/include/mrpt/vision/types.h.

mrpt::vision::TSequenceFeatureObservations::TSequenceFeatureObservations

(

size_t

size )

[inline]

Definition at line 92 of file vision/include/mrpt/vision/types.h.

mrpt::vision::TSequenceFeatureObservations::TSequenceFeatureObservations

(

const TSequenceFeatureObservations &

o )

[inline]

Definition at line 93 of file vision/include/mrpt/vision/types.h.

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Member Function Documentation

void mrpt::vision::TSequenceFeatureObservations::compressIDs	(	std::map< TCameraPoseID, TCameraPoseID > *	old2new_camIDs = NULL,
		std::map< TLandmarkID, TLandmarkID > *	old2new_lmIDs = NULL
	)

Rearrange frame and feature IDs such as they start at 0 and there are no gaps.

Parameters:

old2new_camIDs	If provided, the mapping from old to new IDs is stored here.
old2new_lmIDs	If provided, the mapping from old to new IDs is stored here.

void mrpt::vision::TSequenceFeatureObservations::decimateCameraFrames

(

const size_t

decimate_ratio )

Remove all but one out of decimate_ratio camera frame IDs from the list (eg: from N camera pose IDs at return there will be just N/decimate_ratio) The algorithm first builds a sorted list of frame IDs, then keep the lowest ID, remove the next "decimate_ratio-1", and so on.

See also:

After calling this you may want to call compressIDs

void mrpt::vision::TSequenceFeatureObservations::loadFromTextFile

(

const std::string &

filName )

Load from a text file, in the format described in saveToTextFile

Exceptions:

std::exception

On I/O or format error.

size_t mrpt::vision::TSequenceFeatureObservations::removeFewObservedFeatures

(

size_t

minNumObservations = 3 )

Remove all those features that don't have a minimum number of observations from different camera frame IDs.

Returns:

the number of erased entries.

See also:

After calling this you may want to call compressIDs

void mrpt::vision::TSequenceFeatureObservations::saveToTextFile	(	const std::string &	filName,
		bool	skipFirstCommentLine = false
	)		const

Saves all entries to a text file, with each line having this format: FRAME_ID FEAT_ID PIXEL_X PIXEL_Y The file is self-descripting, since the first line contains a comment line (starting with '') explaining the format.

Generated files can be loaded from MATLAB.

See also:

loadFromTextFile

Exceptions:

std::exception

On I/O error