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CFeatureExtraction_common.cpp
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 #include "vision-precomp.h" // Precompiled headers
11 
12 #include <mrpt/vision/CFeatureExtraction.h>
13 #include <mrpt/utils/CTicTac.h>
14 #include <mrpt/utils/CStream.h>
15 
16 using namespace mrpt;
17 using namespace mrpt::vision;
18 using namespace mrpt::utils;
19 using namespace mrpt::system;
20 using namespace std;
21 
22 
23 /************************************************************************************************
24 * Constructor *
25 ************************************************************************************************/
26 CFeatureExtraction::CFeatureExtraction()
27 {
28 }
29 
30 /************************************************************************************************
31 * Destructor *
32 ************************************************************************************************/
33 CFeatureExtraction::~CFeatureExtraction()
34 {
35 }
36 
37 struct sort_pred {
38  bool operator()(const std::vector<unsigned int> &left, const std::vector<unsigned int> &right) {
39  return left[1] < right[1];
40  }
41 };
42 
43 /************************************************************************************************
44 * extractFeatures *
45 ************************************************************************************************/
46 void CFeatureExtraction::detectFeatures(
47  const CImage & img,
48  CFeatureList & feats,
49  const unsigned int init_ID,
50  const unsigned int nDesiredFeatures,
51  const TImageROI & ROI) const
52 {
53  switch( options.featsType )
54  {
55  case featHarris:
56  MRPT_TODO("Refactor: check if OpenCV's tile method can be directly called to save space here?")
57  if( options.harrisOptions.tile_image )
58  {
59  mrpt::utils::CTicTac tictac;
60 
61  if( !( ROI.xMax == 0 && ROI.xMin == 0 && ROI.yMax == 0 && ROI.yMin == 0 ) ) // ROI must be not active for this option
62  std::cout << "Warning: Image ROI is not taken into account, as harrisOptions.tile is set to YES" << std::endl;
63 
64  TImageROI newROI;
65 
66  unsigned int wd = img.getWidth();
67  unsigned int hg = img.getHeight();
68 
69  unsigned int tt = 0; // Total number of features detected in the whole image
70  std::vector<std::vector<unsigned int> > tam( 8 );
71  std::vector<CFeatureList> aux_feats( 8 ); // 2x4 tiles into the image -> 8 sets of features
72 
73  for( unsigned int k = 0; k < 4; k++ ) // Search over the 2x4 tiled image
74  {
75  // Resize the inner vector
76  tam[k].resize(2);
77  tam[k+4].resize(2);
78 
79  // First row
80  newROI.xMin = k*wd/4.f;
81  newROI.yMin = 0;
82  newROI.xMax = wd/4.f + k*wd/4.f - 1;
83  newROI.yMax = hg/2.f - 1;
84 
85  tictac.Tic();
86  extractFeaturesKLT( img, aux_feats[k], init_ID, nDesiredFeatures, newROI );
87  cout << "Tiempo en extraer una tile: " << tictac.Tac()*1000.0f << endl;
88 
89  tam[k][0] = k;
90  tam[k][1] = aux_feats[k].size();
91 
92  // Second row
93  newROI.xMin = k*wd/4;
94  newROI.yMin = hg/2;
95  newROI.xMax = wd/4 + k*wd/4 - 1;
96  newROI.yMax = hg-1;
97 
98  tictac.Tic();
99  extractFeaturesKLT( img, aux_feats[k+4], init_ID, nDesiredFeatures, newROI );
100  cout << "Tiempo en extraer una tile: " << tictac.Tac()*1000.0f << endl;
101 
102  tam[k+4][0] = k+4;
103  tam[k+4][1] = aux_feats[k+4].size();
104 
105  tt += aux_feats[k].size() + aux_feats[k+4].size();
106  }
107 
108  // Merge all the features
109  unsigned int new_nDesiredFeatures = nDesiredFeatures <= 0 ? 300 : nDesiredFeatures;
110  unsigned int o_n_per_tile = floor( new_nDesiredFeatures/8.0f );
111  feats.clear();
112  if( tt > new_nDesiredFeatures ) // We have found too many features, we have to select them
113  {
114  // Order the size vector
115  std::sort(tam.begin(), tam.end(), sort_pred());
116 
117  if( tam[0][1] > o_n_per_tile ) // The smallest subset
118  {
119  // Everything goes right -> Get o_n_per_tile features from each tile.
120  for( unsigned int m = 0; m < 8; m++ )
121  for( unsigned int k = 0; k < o_n_per_tile; k++ )
122  feats.push_back( aux_feats[m][k] );
123  }
124  else
125  {
126  std::vector<std::vector<unsigned int> >::iterator itVector;
127  unsigned int n_per_tile = o_n_per_tile;
128 
129  for( itVector = tam.begin(); itVector != tam.end(); itVector++ )
130  {
131  if( (*itVector)[1] < n_per_tile ) // Size of the subset
132  {
133  // We have to distribute the features among the tiles
134  for(unsigned int k = 0; k < (*itVector)[1]; k++)
135  {
136  feats.push_back( aux_feats[(*itVector)[0]][k] );
137  n_per_tile += (n_per_tile - (*itVector)[1]);
138  } // end for
139  } // end if
140  else
141  {
142  for(unsigned int k = 0; k < n_per_tile; k++)
143  {
144  feats.push_back( aux_feats[(*itVector)[0]][k] );
145  n_per_tile = o_n_per_tile;
146  } // end for
147  } // end else
148  } // end for 'itVector'
149  } // end else
150  } // end if tt > nDesiredFeatures
151  else // We have found less features than the desired
152  {
153  CFeatureList::iterator itList;
154  for( unsigned int m = 0; m < 8; m++ )
155  for( itList = aux_feats[m].begin(); itList != aux_feats[m].end(); itList++ )
156  feats.push_back( *itList );;
157  }
158 
159  } // end if
160 
161  else
162  extractFeaturesKLT(img, feats, init_ID, nDesiredFeatures, ROI);
163  break;
164 
165  case featKLT:
166  extractFeaturesKLT(img, feats, init_ID, nDesiredFeatures, ROI);
167  break;
168 
169  case featSIFT:
170  extractFeaturesSIFT(img, feats, init_ID, nDesiredFeatures, ROI);
171  break;
172 
173  case featBCD:
174  extractFeaturesBCD(img, feats, init_ID, nDesiredFeatures, ROI);
175  break;
176 
177  case featSURF:
178  extractFeaturesSURF(img, feats, init_ID, nDesiredFeatures, ROI);
179  break;
180 
181  case featFAST:
182  extractFeaturesFAST(img, feats, init_ID, nDesiredFeatures, ROI);
183  break;
184 
185  case featFASTER9:
186  extractFeaturesFASTER_N(9,img, feats, init_ID, nDesiredFeatures, ROI);
187  break;
188  case featFASTER10:
189  extractFeaturesFASTER_N(10,img, feats, init_ID, nDesiredFeatures, ROI);
190  break;
191  case featFASTER12:
192  extractFeaturesFASTER_N(12,img, feats, init_ID, nDesiredFeatures, ROI);
193  break;
194 
195  case featORB:
196  extractFeaturesORB( img, feats, init_ID, nDesiredFeatures, ROI );
197  break;
198 
199  default:
200  THROW_EXCEPTION("options.method has an invalid value!");
201  break;
202  }
203 }
204 
205 /************************************************************************************************
206  computeDescriptors
207 ************************************************************************************************/
208 void CFeatureExtraction::computeDescriptors(
209  const CImage &in_img,
210  CFeatureList &inout_features,
211  TDescriptorType in_descriptor_list) const
212 {
213  MRPT_START
214 
215  int nDescComputed = 0;
216 
217  if ((in_descriptor_list & descSIFT) != 0)
218  {
219  this->internal_computeSiftDescriptors(in_img,inout_features);
220  ++nDescComputed;
221  }
222  if ((in_descriptor_list & descSURF) != 0)
223  {
224  this->internal_computeSurfDescriptors(in_img,inout_features);
225  ++nDescComputed;
226  }
227  if ((in_descriptor_list & descSpinImages) != 0)
228  {
229  this->internal_computeSpinImageDescriptors(in_img,inout_features);
230  ++nDescComputed;
231  }
232  if ((in_descriptor_list & descPolarImages) != 0)
233  {
234  this->internal_computePolarImageDescriptors(in_img,inout_features);
235  ++nDescComputed;
236  }
237  if ((in_descriptor_list & descLogPolarImages) != 0)
238  {
239  this->internal_computeLogPolarImageDescriptors(in_img,inout_features);
240  ++nDescComputed;
241  }
242  if ((in_descriptor_list & descORB) != 0)
243  {
244  this->internal_computeORBDescriptors(in_img,inout_features);
245  ++nDescComputed;
246  }
247 
248  if (!nDescComputed)
249  THROW_EXCEPTION_FMT("No known descriptor value found in in_descriptor_list=%u",(unsigned)in_descriptor_list)
250 
251  MRPT_END
252 }
253 
254 /************************************************************************************************
255 * extractFeaturesBCD *
256 ************************************************************************************************/
257 void CFeatureExtraction::extractFeaturesBCD(
258  const CImage &img,
259  CFeatureList &feats,
260  unsigned int init_ID,
261  unsigned int nDesiredFeatures,
262  const TImageROI &ROI) const
263 {
264  MRPT_UNUSED_PARAM(img);
265  MRPT_UNUSED_PARAM(feats);
266  MRPT_UNUSED_PARAM(init_ID);
267  MRPT_UNUSED_PARAM(nDesiredFeatures);
268  MRPT_UNUSED_PARAM(ROI);
269 
270  THROW_EXCEPTION("Not implemented yet!");
271 } // end extractFeaturesBCD
272 
273 
274 
275 /*------------------------------------------------------------
276  TOptions()
277 -------------------------------------------------------------*/
278 CFeatureExtraction::TOptions::TOptions(const TFeatureType _featsType) :
279  featsType ( _featsType) // Default Method: Kanade-Lucas-Tomasi
280 {
281  // General options
282  patchSize = 21; // Patch size
283  FIND_SUBPIXEL = true; // Find subpixel
284  useMask = false; // Use mask for finding features
285  addNewFeatures = false; // Add to existing feature list
286 
287  // Harris Options
288  harrisOptions.k = 0.04f;
289  harrisOptions.radius = 3; //15;
290  harrisOptions.threshold = 0.005f; //0.01f; The lower this is, more features will be found
291  harrisOptions.sigma = 3.0f;
292  harrisOptions.min_distance = 5; //10;
293  harrisOptions.tile_image = false;
294 
295  // KLT Options
296  KLTOptions.min_distance = 5; //10;
297  KLTOptions.threshold = 0.1f; //0.005 ; 0.01f;
298  KLTOptions.radius = 15; //3;
299  KLTOptions.tile_image = false;
300 
301  // SIFT Options
302  SIFTOptions.implementation = Hess; // Default implementation: Hess
303 
304  // SURF Options
305 
306  // BCD Options
307 
308  // FAST:
309  FASTOptions.threshold = 20;
310  FASTOptions.nonmax_suppression = true;
311  FASTOptions.use_KLT_response = false;
312  FASTOptions.min_distance = 5;
313 
314  // ORB:
315  ORBOptions.extract_patch = false;
316  ORBOptions.min_distance = 0;
317  ORBOptions.n_levels = 8;
318  ORBOptions.scale_factor = 1.2f;
319 
320  // SpinImages Options:
321  SpinImagesOptions.hist_size_distance = 10;
322  SpinImagesOptions.hist_size_intensity = 10;
323  SpinImagesOptions.radius = 20;
324  SpinImagesOptions.std_dist = 0.4f;
325  SpinImagesOptions.std_intensity = 10;
326 
327  // TPolarImagesOptions
328  PolarImagesOptions.bins_angle = 8;
329  PolarImagesOptions.bins_distance = 6;
330  PolarImagesOptions.radius = 20;
331 
332  // LogPolarImagesOptions
333  LogPolarImagesOptions.radius = 30;
334  LogPolarImagesOptions.num_angles = 16; // Log-Polar image patch will have dimensions WxH, with: W=num_angles, H= rho_scale * log(radius)
335  LogPolarImagesOptions.rho_scale = 5;
336 
337 }
338 
339 /*---------------------------------------------------------------
340  dumpToTextStream
341  ---------------------------------------------------------------*/
342 void CFeatureExtraction::TOptions::dumpToTextStream(mrpt::utils::CStream &out) const
343 {
344  out.printf("\n----------- [CFeatureExtraction::TOptions] ------------ \n\n");
345 
346  LOADABLEOPTS_DUMP_VAR(featsType,int)
347  LOADABLEOPTS_DUMP_VAR(patchSize, int)
348  LOADABLEOPTS_DUMP_VAR(FIND_SUBPIXEL, bool)
349  LOADABLEOPTS_DUMP_VAR(useMask, bool)
350  LOADABLEOPTS_DUMP_VAR(addNewFeatures, bool)
351 
352  LOADABLEOPTS_DUMP_VAR(harrisOptions.k,double)
353  LOADABLEOPTS_DUMP_VAR(harrisOptions.radius,int)
354  LOADABLEOPTS_DUMP_VAR(harrisOptions.threshold,float)
355  LOADABLEOPTS_DUMP_VAR(harrisOptions.sigma,float)
356  LOADABLEOPTS_DUMP_VAR(harrisOptions.min_distance,float)
357 
358  LOADABLEOPTS_DUMP_VAR(KLTOptions.min_distance,float)
359  LOADABLEOPTS_DUMP_VAR(KLTOptions.threshold,float)
360  LOADABLEOPTS_DUMP_VAR(KLTOptions.radius,int)
361 
362  LOADABLEOPTS_DUMP_VAR(SIFTOptions.implementation,int)
363 
364  LOADABLEOPTS_DUMP_VAR(SURFOptions.rotation_invariant,bool)
365  LOADABLEOPTS_DUMP_VAR(SURFOptions.hessianThreshold,int)
366  LOADABLEOPTS_DUMP_VAR(SURFOptions.nOctaves,int)
367  LOADABLEOPTS_DUMP_VAR(SURFOptions.nLayersPerOctave,int)
368 
369  LOADABLEOPTS_DUMP_VAR(FASTOptions.threshold,int)
370  LOADABLEOPTS_DUMP_VAR(FASTOptions.nonmax_suppression,bool)
371  LOADABLEOPTS_DUMP_VAR(FASTOptions.min_distance,float)
372  LOADABLEOPTS_DUMP_VAR(FASTOptions.use_KLT_response,bool)
373 
374  LOADABLEOPTS_DUMP_VAR(ORBOptions.scale_factor,float)
375  LOADABLEOPTS_DUMP_VAR(ORBOptions.min_distance,int)
376  LOADABLEOPTS_DUMP_VAR(ORBOptions.n_levels,int)
377  LOADABLEOPTS_DUMP_VAR(ORBOptions.extract_patch,bool)
378 
379  LOADABLEOPTS_DUMP_VAR(SpinImagesOptions.hist_size_distance,int)
380  LOADABLEOPTS_DUMP_VAR(SpinImagesOptions.hist_size_intensity,int)
381  LOADABLEOPTS_DUMP_VAR(SpinImagesOptions.radius,int)
382  LOADABLEOPTS_DUMP_VAR(SpinImagesOptions.std_dist,float)
383  LOADABLEOPTS_DUMP_VAR(SpinImagesOptions.std_intensity,float)
384 
385  LOADABLEOPTS_DUMP_VAR(PolarImagesOptions.bins_angle,int)
386  LOADABLEOPTS_DUMP_VAR(PolarImagesOptions.bins_distance,int)
387  LOADABLEOPTS_DUMP_VAR(PolarImagesOptions.radius,int)
388 
389  LOADABLEOPTS_DUMP_VAR(LogPolarImagesOptions.radius,int)
390  LOADABLEOPTS_DUMP_VAR(LogPolarImagesOptions.num_angles,int)
391  LOADABLEOPTS_DUMP_VAR(LogPolarImagesOptions.rho_scale,double)
392 
393  out.printf("\n");
394 }
395 
396 /*---------------------------------------------------------------
397  loadFromConfigFile
398  ---------------------------------------------------------------*/
399 void CFeatureExtraction::TOptions::loadFromConfigFile(
400  const mrpt::utils::CConfigFileBase &iniFile,
401  const std::string &section)
402 {
403  MRPT_LOAD_CONFIG_VAR_CAST(featsType, int, TFeatureType, iniFile,section)
404  MRPT_LOAD_CONFIG_VAR(patchSize, int, iniFile, section)
405  MRPT_LOAD_CONFIG_VAR(FIND_SUBPIXEL, bool, iniFile, section)
406  MRPT_LOAD_CONFIG_VAR(useMask, bool, iniFile, section)
407  MRPT_LOAD_CONFIG_VAR(addNewFeatures, bool, iniFile, section)
408 
409  //string sect = section;
410  MRPT_LOAD_CONFIG_VAR(harrisOptions.k,double, iniFile,section)
411  MRPT_LOAD_CONFIG_VAR(harrisOptions.radius,int, iniFile,section)
412  MRPT_LOAD_CONFIG_VAR(harrisOptions.threshold,float, iniFile,section)
413  MRPT_LOAD_CONFIG_VAR(harrisOptions.sigma,float, iniFile,section)
414  MRPT_LOAD_CONFIG_VAR(harrisOptions.min_distance,float, iniFile,section)
415 
416  MRPT_LOAD_CONFIG_VAR(KLTOptions.min_distance,float, iniFile,section)
417  MRPT_LOAD_CONFIG_VAR(KLTOptions.threshold,float, iniFile,section)
418  MRPT_LOAD_CONFIG_VAR(KLTOptions.radius,int, iniFile,section)
419 
420  MRPT_LOAD_CONFIG_VAR_CAST(SIFTOptions.implementation,int,TSIFTImplementation, iniFile,section)
421  MRPT_LOAD_CONFIG_VAR(SIFTOptions.threshold,double, iniFile,section)
422  MRPT_LOAD_CONFIG_VAR(SIFTOptions.edgeThreshold,double, iniFile,section)
423 
424  MRPT_LOAD_CONFIG_VAR(SURFOptions.rotation_invariant,bool, iniFile,section)
425  MRPT_LOAD_CONFIG_VAR(SURFOptions.hessianThreshold,int, iniFile,section)
426  MRPT_LOAD_CONFIG_VAR(SURFOptions.nOctaves,int, iniFile,section)
427  MRPT_LOAD_CONFIG_VAR(SURFOptions.nLayersPerOctave,int, iniFile,section)
428 
429  MRPT_LOAD_CONFIG_VAR(FASTOptions.threshold,int, iniFile,section)
430  MRPT_LOAD_CONFIG_VAR(FASTOptions.nonmax_suppression,bool, iniFile,section)
431  MRPT_LOAD_CONFIG_VAR(FASTOptions.min_distance,float, iniFile,section)
432  MRPT_LOAD_CONFIG_VAR(FASTOptions.use_KLT_response,bool, iniFile,section)
433 
434  MRPT_LOAD_CONFIG_VAR(ORBOptions.extract_patch,bool, iniFile,section)
435  MRPT_LOAD_CONFIG_VAR(ORBOptions.min_distance,int, iniFile,section)
436  MRPT_LOAD_CONFIG_VAR(ORBOptions.n_levels,int, iniFile,section)
437  MRPT_LOAD_CONFIG_VAR(ORBOptions.scale_factor,float, iniFile,section)
438 
439  MRPT_LOAD_CONFIG_VAR(SpinImagesOptions.hist_size_distance,int, iniFile,section)
440  MRPT_LOAD_CONFIG_VAR(SpinImagesOptions.hist_size_intensity,int, iniFile,section)
441  MRPT_LOAD_CONFIG_VAR(SpinImagesOptions.radius,int, iniFile,section)
442  MRPT_LOAD_CONFIG_VAR(SpinImagesOptions.std_dist,float, iniFile,section)
443  MRPT_LOAD_CONFIG_VAR(SpinImagesOptions.std_intensity,float, iniFile,section)
444 
445  MRPT_LOAD_CONFIG_VAR(PolarImagesOptions.bins_angle,int, iniFile,section)
446  MRPT_LOAD_CONFIG_VAR(PolarImagesOptions.bins_distance,int, iniFile,section)
447  MRPT_LOAD_CONFIG_VAR(PolarImagesOptions.radius,int, iniFile,section)
448 
449  MRPT_LOAD_CONFIG_VAR(LogPolarImagesOptions.radius,int, iniFile,section)
450  MRPT_LOAD_CONFIG_VAR(LogPolarImagesOptions.num_angles,int, iniFile,section)
451  MRPT_LOAD_CONFIG_VAR(LogPolarImagesOptions.rho_scale,double, iniFile,section)
452 
453 }
454 
mrpt::vision::CFeatureExtraction::TOptions::loadFromConfigFile
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
This method load the options from a ".ini"-like file or memory-stored string list.
Definition: CFeatureExtraction_common.cpp:399
mrpt::utils
Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
Definition: zip.h:16
mrpt::vision::CFeatureExtraction::TOptions::FASTOptions
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions FASTOptions
mrpt::vision::CFeatureExtraction::TOptions::useMask
bool useMask
Whether to use a mask for determining the regions where not to look for keypoints (default=false)...
Definition: CFeatureExtraction.h:90
mrpt::vision::descSURF
SURF descriptors.
Definition: vision/include/mrpt/vision/types.h:63
mrpt::vision::CFeatureExtraction::TOptions::TSIFTOptions::implementation
TSIFTImplementation implementation
Default: Hess (OpenCV should be preferred, but its nonfree module is not always available by default ...
Definition: CFeatureExtraction.h:150
mrpt::vision::CFeatureExtraction::TOptions::PolarImagesOptions
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions PolarImagesOptions
mrpt::system
This namespace provides a OS-independent interface to many useful functions: filenames manipulation...
Definition: math_frwds.h:29
mrpt::vision::featFASTER9
FASTER-9 detector, Edward Rosten&#39;s libcvd implementation optimized for SSE2.
Definition: vision/include/mrpt/vision/types.h:51
mrpt::utils::CImage
A class for storing images as grayscale or RGB bitmaps.
Definition: CImage.h:101
mrpt::vision::descSIFT
SIFT descriptors.
Definition: vision/include/mrpt/vision/types.h:62
mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::radius
unsigned int radius
Maximum radius of the area of which the histogram is built, in pixel units (default=20 pixels) ...
Definition: CFeatureExtraction.h:175
THROW_EXCEPTION
#define THROW_EXCEPTION(msg)
Definition: maps/CColouredPointsMap.h:154
mrpt::vision::CFeatureExtraction::TOptions::LogPolarImagesOptions
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions LogPolarImagesOptions
mrpt::vision::CFeatureExtraction::detectFeatures
void detectFeatures(const mrpt::utils::CImage &img, CFeatureList &feats, const unsigned int init_ID=0, const unsigned int nDesiredFeatures=0, const TImageROI &ROI=TImageROI()) const
Extract features from the image based on the method defined in TOptions.
Definition: CFeatureExtraction_common.cpp:46
mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions::rho_scale
double rho_scale
(default=5) Log-Polar image patch will have dimensions WxH, with: W=num_angles, H= rho_scale * log(ra...
Definition: CFeatureExtraction.h:193
THROW_EXCEPTION_FMT
#define THROW_EXCEPTION_FMT(_FORMAT_STRING,...)
Definition: maps/CColouredPointsMap.h:163
iterator
Scalar * iterator
Definition: eigen_plugins.h:23
LOADABLEOPTS_DUMP_VAR
#define LOADABLEOPTS_DUMP_VAR(variableName, variableType)
Macro for dumping a variable to a stream, within the method "dumpToTextStream(out)" (Variable types a...
Definition: CLoadableOptions.h:93
mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions::num_angles
unsigned int num_angles
(default=16) Log-Polar image patch will have dimensions WxH, with: W=num_angles, H= rho_scale * log(r...
Definition: CFeatureExtraction.h:192
mrpt::vision::CFeatureExtraction::TOptions::SIFTOptions
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TSIFTOptions SIFTOptions
begin
EIGEN_STRONG_INLINE iterator begin()
Definition: eigen_plugins.h:26
mrpt::vision::CFeatureExtraction::TOptions::FIND_SUBPIXEL
bool FIND_SUBPIXEL
Indicates if subpixel accuracy is desired for the extracted points (only applicable to KLT and Harris...
Definition: CFeatureExtraction.h:98
std
STL namespace.
mrpt::vision::CFeatureExtraction::TOptions::SpinImagesOptions
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions SpinImagesOptions
CFeatureExtraction.h
mrpt::utils::CTicTac::Tic
void Tic()
Starts the stopwatch.
Definition: CTicTac.cpp:77
mrpt::vision::CFeatureExtraction::TOptions::TOptions
TOptions(const TFeatureType featsType=featKLT)
Initalizer.
Definition: CFeatureExtraction_common.cpp:278
mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::use_KLT_response
bool use_KLT_response
(default=false) If true, use CImage::KLT_response to compute the response at each point instead of th...
Definition: CFeatureExtraction.h:131
sort_pred::operator()
bool operator()(const std::vector< unsigned int > &left, const std::vector< unsigned int > &right)
Definition: CFeatureExtraction_common.cpp:38
mrpt::utils::CConfigFileBase
This class allows loading and storing values and vectors of different types from a configuration text...
Definition: CConfigFileBase.h:33
mrpt::vision::TImageROI::yMin
float yMin
Y coordinate limits [0,imageHeight)
Definition: vision/include/mrpt/vision/types.h:263
mrpt::vision::featFAST
FAST feature detector, OpenCV&#39;s implementation ("Faster and better: A machine learning approach to co...
Definition: vision/include/mrpt/vision/types.h:50
CStream.h
mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::std_dist
float std_dist
Standard deviation in "distance", used for the "soft histogram" (default=0.4 pixels) ...
Definition: CFeatureExtraction.h:173
mrpt::vision::TImageROI
A structure for defining a ROI within an image.
Definition: vision/include/mrpt/vision/types.h:251
MRPT_TODO
MRPT_TODO("Modify ping to run on Windows + Test this")
mrpt::vision::CFeatureExtraction::TOptions::harrisOptions
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::THarrisOptions harrisOptions
mrpt::utils::CStream
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:38
mrpt::vision::CFeatureExtraction::~CFeatureExtraction
virtual ~CFeatureExtraction()
Virtual destructor.
Definition: CFeatureExtraction_common.cpp:33
mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::std_intensity
float std_intensity
Standard deviation in "intensity", used for the "soft histogram" (default=20 units [0...
Definition: CFeatureExtraction.h:174
mrpt::vision::CFeatureExtraction::TOptions::dumpToTextStream
void dumpToTextStream(mrpt::utils::CStream &out) const MRPT_OVERRIDE
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
Definition: CFeatureExtraction_common.cpp:342
MRPT_END
#define MRPT_END
Definition: maps/CColouredPointsMap.h:370
MRPT_UNUSED_PARAM
#define MRPT_UNUSED_PARAM(a)
Can be used to avoid "not used parameters" warnings from the compiler.
Definition: maps/CColouredPointsMap.h:307
img
GLint GLvoid * img
Definition: glext.h:3645
mrpt::vision::featHarris
Harris border and corner detector [HARRIS].
Definition: vision/include/mrpt/vision/types.h:45
MRPT_LOAD_CONFIG_VAR_CAST
#define MRPT_LOAD_CONFIG_VAR_CAST(variableName, variableType, variableTypeCast, configFileObject, sectionNameStr)
Definition: CConfigFileBase.h:204
mrpt::vision::featSIFT
Scale Invariant Feature Transform [LOWE&#39;04].
Definition: vision/include/mrpt/vision/types.h:47
sort_pred
Definition: CFeatureExtraction_common.cpp:37
mrpt::vision::CFeatureExtraction::TOptions::TFASTOptions::min_distance
float min_distance
(default=5) minimum distance between features (in pixels)
Definition: CFeatureExtraction.h:129
mrpt::utils::CTicTac
This class implements a high-performance stopwatch.
Definition: CTicTac.h:24
mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions::bins_distance
unsigned int bins_distance
Number of bins in the "distance" axis of the polar image (default=6).
Definition: CFeatureExtraction.h:183
mrpt::vision::featFASTER10
FASTER-9 detector, Edward Rosten&#39;s libcvd implementation optimized for SSE2.
Definition: vision/include/mrpt/vision/types.h:52
mrpt::vision
Classes for computer vision, detectors, features, etc.
Definition: bundle_adjustment.h:22
mrpt::vision::CFeatureList::push_back
void push_back(const CFeaturePtr &f)
Definition: CFeature.h:285
mrpt::vision::featFASTER12
FASTER-9 detector, Edward Rosten&#39;s libcvd implementation optimized for SSE2.
Definition: vision/include/mrpt/vision/types.h:53
mrpt::vision::descORB
Bit-based feature descriptor.
Definition: vision/include/mrpt/vision/types.h:67
string
GLsizei const GLchar ** string
Definition: glext.h:3919
mrpt::vision::CFeatureList
A list of visual features, to be used as output by detectors, as input/output by trackers, etc.
Definition: CFeature.h:211
mrpt::vision::TDescriptorType
TDescriptorType
The bitwise OR combination of values of TDescriptorType are used in CFeatureExtraction::computeDescri...
Definition: vision/include/mrpt/vision/types.h:59
mrpt::vision::TImageROI::xMin
float xMin
X coordinate limits [0,imageWidth)
Definition: vision/include/mrpt/vision/types.h:260
mrpt::vision::TFeatureType
TFeatureType
Types of features - This means that the point has been detected with this algorithm, which is independent of additional descriptors a feature may also have.
Definition: vision/include/mrpt/vision/types.h:41
CTicTac.h
MRPT_START
#define MRPT_START
Definition: maps/CColouredPointsMap.h:366
MRPT_LOAD_CONFIG_VAR
#define MRPT_LOAD_CONFIG_VAR(variableName, variableType, configFileObject, sectionNameStr)
An useful macro for loading variables stored in a INI-like file under a key with the same name that t...
Definition: CConfigFileBase.h:190
mrpt
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Definition: CParticleFilter.h:16
mrpt::vision::descLogPolarImages
Log-Polar image descriptor.
Definition: vision/include/mrpt/vision/types.h:66
mrpt::vision::featSURF
Speeded Up Robust Feature [BAY&#39;06].
Definition: vision/include/mrpt/vision/types.h:48
mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions::radius
unsigned int radius
Maximum radius of the area of which the polar image is built, in pixel units (default=20 pixels) ...
Definition: CFeatureExtraction.h:184
mrpt::vision::CFeatureExtraction::computeDescriptors
void computeDescriptors(const mrpt::utils::CImage &in_img, CFeatureList &inout_features, TDescriptorType in_descriptor_list) const
Compute one (or more) descriptors for the given set of interest points onto the image, which may have been filled out manually or from detectFeatures.
Definition: CFeatureExtraction_common.cpp:208
mrpt::utils::CTicTac::Tac
double Tac()
Stops the stopwatch.
Definition: CTicTac.cpp:92
mrpt::vision::descPolarImages
Polar image descriptor.
Definition: vision/include/mrpt/vision/types.h:65
mrpt::vision::CFeatureList::iterator
TInternalFeatList::iterator iterator
Definition: CFeature.h:261
mrpt::vision::CFeatureExtraction::TOptions::TPolarImagesOptions::bins_angle
unsigned int bins_angle
Number of bins in the "angular" axis of the polar image (default=8).
Definition: CFeatureExtraction.h:182
mrpt::vision::descSpinImages
Intensity-domain spin image descriptors.
Definition: vision/include/mrpt/vision/types.h:64
mrpt::vision::featBCD
Binary corder detector.
Definition: vision/include/mrpt/vision/types.h:46
mrpt::vision::CFeatureExtraction::TOptions::KLTOptions
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TKLTOptions KLTOptions
mrpt::vision::featORB
ORB detector and descriptor, OpenCV&#39;s implementation ("ORB: an efficient alternative to SIFT or SURF"...
Definition: vision/include/mrpt/vision/types.h:54
mrpt::vision::CFeatureExtraction::extractFeaturesBCD
void extractFeaturesBCD(const mrpt::utils::CImage &img, CFeatureList &feats, unsigned int init_ID=0, unsigned int nDesiredFeatures=0, const TImageROI &ROI=TImageROI()) const
Extract features from the image based on the BCD method.
Definition: CFeatureExtraction_common.cpp:257
mrpt::vision::CFeatureExtraction::TOptions::patchSize
unsigned int patchSize
Size of the patch to extract, or 0 if no patch is desired (default=21).
Definition: CFeatureExtraction.h:86
mrpt::vision::CFeatureExtraction::TOptions::ORBOptions
struct VISION_IMPEXP mrpt::vision::CFeatureExtraction::TOptions::TORBOptions ORBOptions
mrpt::vision::CFeatureExtraction::TOptions::TLogPolarImagesOptions::radius
unsigned int radius
Maximum radius of the area of which the log polar image is built, in pixel units (default=30 pixels) ...
Definition: CFeatureExtraction.h:191
mrpt::vision::CFeatureExtraction::TOptions::addNewFeatures
bool addNewFeatures
Whether to add the found features to the input feature list or clear it before adding them (default=f...
Definition: CFeatureExtraction.h:94
mrpt::vision::CFeatureExtraction::TOptions::TSpinImagesOptions::hist_size_distance
unsigned int hist_size_distance
Number of bins in the "distance" axis of the 2D histogram (default=10).
Definition: CFeatureExtraction.h:172
mrpt::vision::featKLT
Kanade-Lucas-Tomasi feature [SHI&#39;94].
Definition: vision/include/mrpt/vision/types.h:44
mrpt::utils::CStream::printf
virtual int printf(const char *fmt,...) MRPT_printf_format_check(2
Writes a string to the stream in a textual form.
Definition: CStream.cpp:507


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