Detailed Description

A generic 2D feature from an image, extracted with CFeatureExtraction Each feature may have one or more descriptors (see descriptors), in addition to an image patch.

The (Euclidean) distance between descriptors in a pair of features can be computed with descriptorDistanceTo, while the similarity of the patches is given by patchCorrelationTo.

See also: CFeatureList, TSimpleFeature, TSimpleFeatureList

Definition at line 53 of file CFeature.h.

#include <mrpt/vision/CFeature.h>

Inheritance diagram for mrpt::vision::CFeature:

Classes
struct	TDescriptors
	All the possible descriptors this feature may have. More...

Public Member Functions
void *	operator new (size_t size)

void *	operator new[] (size_t size)

void	operator delete (void *ptr) throw ()

void	operator delete[] (void *ptr) throw ()

void	operator delete (void memory, void ptr) throw ()

void *	operator new (size_t size, const std::nothrow_t &) throw ()

void	operator delete (void *ptr, const std::nothrow_t &) throw ()

bool	isPointFeature () const
	Return false only for Blob detectors (SIFT, SURF) More...

bool	getFirstDescriptorAsMatrix (mrpt::math::CMatrixFloat &desc) const
	Return the first found descriptor, as a matrix. More...

float	patchCorrelationTo (const CFeature &oFeature) const
	Computes the normalized cross-correlation between the patches of this and another feature (normalized in the range [0,1], such as 0=best, 1=worst). More...

float	descriptorDistanceTo (const CFeature &oFeature, TDescriptorType descriptorToUse=descAny, bool normalize_distances=true) const
	Computes the Euclidean Distance between this feature's and other feature's descriptors, using the given descriptor or the first present one. More...

float	descriptorSIFTDistanceTo (const CFeature &oFeature, bool normalize_distances=true) const
	Computes the Euclidean Distance between "this" and the "other" descriptors. More...

float	descriptorSURFDistanceTo (const CFeature &oFeature, bool normalize_distances=true) const
	Computes the Euclidean Distance between "this" and the "other" descriptors. More...

float	descriptorSpinImgDistanceTo (const CFeature &oFeature, bool normalize_distances=true) const
	Computes the Euclidean Distance between "this" and the "other" descriptors. More...

float	descriptorPolarImgDistanceTo (const CFeature &oFeature, float &minDistAngle, bool normalize_distances=true) const
	Returns the minimum Euclidean Distance between "this" and the "other" polar image descriptor, for the best shift in orientation. More...

float	descriptorLogPolarImgDistanceTo (const CFeature &oFeature, float &minDistAngle, bool normalize_distances=true) const
	Returns the minimum Euclidean Distance between "this" and the "other" log-polar image descriptor, for the best shift in orientation. More...

uint8_t	descriptorORBDistanceTo (const CFeature &oFeature) const
	Computes the Hamming distance "this" and the "other" descriptor ORB descriptor. More...

void	saveToTextFile (const std::string &filename, bool APPEND=false)
	Save the feature to a text file in this format: "%% Dump of mrpt::vision::CFeatureList. Each line format is:\n" "%% ID TYPE X Y ORIENTATION SCALE TRACK_STATUS RESPONSE HAS_SIFT [SIFT] HAS_SURF [SURF] HAS_MULTI [MULTI_i] HAS_ORB [ORB]" "%% \|---------------------- feature ------------------\| \|---------------------- descriptors ------------------------\|" "%% with:\n" "%% TYPE : The used detector: 0:KLT, 1: Harris, 2: BCD, 3: SIFT, 4: SURF, 5: Beacon, 6: FAST, 7: ORB\n" "%% HAS_* : 1 if a descriptor of that type is associated to the feature." "%% SIFT : Present if HAS_SIFT=1: N DESC_0 ... DESC_N-1" "%% SURF : Present if HAS_SURF=1: N DESC_0 ... DESC_N-1" "%% MULTI : Present if HAS_MULTI=1: SCALE ORI N DESC_0 ... DESC_N-1" "%% ORB : Present if HAS_ORB=1: DESC_0 ... More...

TFeatureType	get_type () const
	Get the type of the feature. More...

void	dumpToTextStream (mrpt::utils::CStream &out) const
	Dump feature information into a text stream. More...

void	dumpToConsole () const

	CFeature ()
	Constructor. More...

virtual	~CFeature ()
	Virtual destructor. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

CObject *	clone () const
	Cloning interface for smart pointers. More...

Static Public Member Functions
static void *	operator new (size_t size, void *ptr)

Public Attributes
float	x

float	y
	Coordinates in the image. More...

TFeatureID	ID
	ID of the feature. More...

mrpt::utils::CImage	patch
	A patch of the image surrounding the feature. More...

uint16_t	patchSize
	Size of the patch (patchSize x patchSize) (it must be an odd number) More...

TFeatureType	type
	Type of the feature: featNotDefined, featSIFT, featKLT, featHarris, featSURF, featBeacon. More...

TFeatureTrackStatus	track_status
	Status of the feature tracking process (old name: KLT_status) More...

float	response
	A measure of the "goodness" of the feature (old name: KLT_val) More...

float	orientation
	Main orientation of the feature. More...

float	scale
	Feature scale into the scale space. More...

uint8_t	user_flags
	A field for any other flags needed by the user (this has not a predefined meaning) More...

uint16_t	nTimesSeen
	Number of frames it has been seen in a sequence of images. More...

uint16_t	nTimesNotSeen
	Number of frames it has not been seen in a sequence of images. More...

uint16_t	nTimesLastSeen
	Number of frames since it was seen for the last time. More...

double	depth
	The estimated depth in 3D of this feature wrt the camera in the current frame. More...

double	initialDepth
	The estimated depth in 3D of this feature wrt the camera that took its image. More...

mrpt::math::TPoint3D	p3D
	The estimated 3D point of this feature wrt its camera. More...

std::deque< double >	multiScales
	A set of scales where the multi-resolution descriptor has been computed. More...

std::deque< std::vector< double > >	multiOrientations
	A vector of main orientations (there is a vector of orientations for each scale) More...

std::deque< std::vector< std::vector< int32_t > > >	multiHashCoeffs
	A set of vectors containing the coefficients for a HASH table of descriptors. More...

struct VISION_IMPEXP mrpt::vision::CFeature::TDescriptors	descriptors

Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject

RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable

Protected Member Functions
CSerializable virtual methods
void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const
	Introduces a pure virtual method responsible for writing to a CStream. More...

void	readFromStream (mrpt::utils::CStream &in, int version)
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. More...

Static Protected Member Functions
static float	internal_distanceBetweenPolarImages (const mrpt::math::CMatrix &desc1, const mrpt::math::CMatrix &desc2, float &minDistAngle, bool normalize_distances, bool dont_shift_angle)
	Internal function used by "descriptorLogPolarImgDistanceTo" and "descriptorPolarImgDistanceTo". More...

Friends
class	CFeatureList

class	CMatchedFeatureList

RTTI stuff
typedef CFeaturePtr	Ptr

typedef CFeaturePtr	ConstPtr

static mrpt::utils::CLASSINIT	_init_CFeature

static mrpt::utils::TRuntimeClassId	classCFeature

static const mrpt::utils::TRuntimeClassId *	classinfo

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime. More...

virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class. More...

static mrpt::utils::CObject *	CreateObject ()

static CFeaturePtr	Create ()

Member Typedef Documentation

◆ ConstPtr

typedef CFeaturePtr mrpt::vision::CFeature::ConstPtr

Definition at line 58 of file CFeature.h.

◆ Ptr

typedef CFeaturePtr mrpt::vision::CFeature::Ptr

A typedef for the associated smart pointer

Definition at line 58 of file CFeature.h.

Constructor & Destructor Documentation

◆ CFeature()

CFeature::CFeature ( )

Constructor.

Definition at line 416 of file CFeature.cpp.

◆ ~CFeature()

virtual mrpt::vision::CFeature::~CFeature ( )

inlinevirtual

Virtual destructor.

Definition at line 188 of file CFeature.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::vision::CFeature::_GetBaseClass ( )

staticprotected

◆ clone()

CObject* mrpt::utils::CObject::clone ( ) const

inlineinherited

Cloning interface for smart pointers.

Definition at line 143 of file CObject.h.

◆ Create()

static CFeaturePtr mrpt::vision::CFeature::Create ( )

static

Referenced by mrpt::vision::CFeatureExtraction::convertCvSeqInCFeatureList(), mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureExtraction::extractFeaturesFASTER_N(), mrpt::vision::CFeatureExtraction::extractFeaturesKLT(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::CFeatureExtraction::extractFeaturesSURF(), mrpt::vision::CFeatureList::loadFromTextFile(), and mrpt::vision::detail::trackFeatures_addNewFeats< CFeatureList >().

◆ CreateObject()

static mrpt::utils::CObject* mrpt::vision::CFeature::CreateObject ( )

static

◆ descriptorDistanceTo()

float CFeature::descriptorDistanceTo	(	const CFeature &	oFeature,
		TDescriptorType	descriptorToUse = `descAny`,
		bool	normalize_distances = `true`
	)		const

Computes the Euclidean Distance between this feature's and other feature's descriptors, using the given descriptor or the first present one.

Note: If descriptorToUse is not descAny and that descriptor is not present in one of the features, an exception will be raised.

See also: patchCorrelationTo

Definition at line 463 of file CFeature.cpp.

References mrpt::vision::descAny, mrpt::vision::descLogPolarImages, mrpt::vision::descORB, mrpt::vision::descPolarImages, descriptorLogPolarImgDistanceTo(), descriptorORBDistanceTo(), descriptorPolarImgDistanceTo(), descriptors, descriptorSIFTDistanceTo(), descriptorSpinImgDistanceTo(), descriptorSURFDistanceTo(), mrpt::vision::descSIFT, mrpt::vision::descSpinImages, mrpt::vision::descSURF, mrpt::vision::CFeature::TDescriptors::hasDescriptorLogPolarImg(), mrpt::vision::CFeature::TDescriptors::hasDescriptorORB(), mrpt::vision::CFeature::TDescriptors::hasDescriptorPolarImg(), mrpt::vision::CFeature::TDescriptors::hasDescriptorSIFT(), mrpt::vision::CFeature::TDescriptors::hasDescriptorSpinImg(), mrpt::vision::CFeature::TDescriptors::hasDescriptorSURF(), MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.

◆ descriptorLogPolarImgDistanceTo()

float CFeature::descriptorLogPolarImgDistanceTo	(	const CFeature &	oFeature,
		float &	minDistAngle,
		bool	normalize_distances = `true`
	)		const

Returns the minimum Euclidean Distance between "this" and the "other" log-polar image descriptor, for the best shift in orientation.

Parameters

oFeature	The other feature to compare with.
minDistAngle	The placeholder for the angle at which the smallest distance is found.

Returns: The distance for the best orientation (minimum distance).

Definition at line 728 of file CFeature.cpp.

References ASSERT_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorLogPolarImg(), internal_distanceBetweenPolarImages(), mrpt::vision::CFeature::TDescriptors::LogPolarImg, MRPT_END, MRPT_START, and mrpt::vision::CFeature::TDescriptors::polarImgsNoRotation.

Referenced by descriptorDistanceTo().

◆ descriptorORBDistanceTo()

uint8_t CFeature::descriptorORBDistanceTo ( const CFeature & oFeature ) const

Computes the Hamming distance "this" and the "other" descriptor ORB descriptor.

Definition at line 754 of file CFeature.cpp.

References ASSERT_, descriptors, mrpt::math::distance(), mrpt::vision::CFeature::TDescriptors::hasDescriptorORB(), and mrpt::vision::CFeature::TDescriptors::ORB.

Referenced by descriptorDistanceTo().

◆ descriptorPolarImgDistanceTo()

float CFeature::descriptorPolarImgDistanceTo	(	const CFeature &	oFeature,
		float &	minDistAngle,
		bool	normalize_distances = `true`
	)		const

Returns the minimum Euclidean Distance between "this" and the "other" polar image descriptor, for the best shift in orientation.

Parameters

oFeature	The other feature to compare with.
minDistAngle	The placeholder for the angle at which the smallest distance is found.

Returns: The distance for the best orientation (minimum distance).

Definition at line 702 of file CFeature.cpp.

References ASSERT_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorPolarImg(), internal_distanceBetweenPolarImages(), MRPT_END, MRPT_START, mrpt::vision::CFeature::TDescriptors::PolarImg, and mrpt::vision::CFeature::TDescriptors::polarImgsNoRotation.

Referenced by descriptorDistanceTo().

◆ descriptorSIFTDistanceTo()

float CFeature::descriptorSIFTDistanceTo	(	const CFeature &	oFeature,
		bool	normalize_distances = `true`
	)		const

Computes the Euclidean Distance between "this" and the "other" descriptors.

Definition at line 519 of file CFeature.cpp.

References ASSERT_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorSIFT(), mrpt::vision::CFeature::TDescriptors::SIFT, and mrpt::math::square().

Referenced by descriptorDistanceTo().

◆ descriptorSpinImgDistanceTo()

float CFeature::descriptorSpinImgDistanceTo	(	const CFeature &	oFeature,
		bool	normalize_distances = `true`
	)		const

Computes the Euclidean Distance between "this" and the "other" descriptors.

Definition at line 563 of file CFeature.cpp.

References ASSERT_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorSpinImg(), mrpt::vision::CFeature::TDescriptors::SpinImg, and mrpt::math::square().

Referenced by descriptorDistanceTo().

◆ descriptorSURFDistanceTo()

float CFeature::descriptorSURFDistanceTo	(	const CFeature &	oFeature,
		bool	normalize_distances = `true`
	)		const

Computes the Euclidean Distance between "this" and the "other" descriptors.

Definition at line 541 of file CFeature.cpp.

References ASSERT_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorSURF(), mrpt::math::square(), and mrpt::vision::CFeature::TDescriptors::SURF.

Referenced by descriptorDistanceTo().

◆ dumpToConsole()

void CFeature::dumpToConsole ( ) const

Definition at line 313 of file CFeature.cpp.

◆ dumpToTextStream()

void CFeature::dumpToTextStream ( mrpt::utils::CStream & out ) const

Dump feature information into a text stream.

Definition at line 233 of file CFeature.cpp.

References mrpt::utils::CStream::printf().

◆ duplicate()

virtual mrpt::utils::CObject* mrpt::vision::CFeature::duplicate ( ) const

virtual

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

◆ duplicateGetSmartPtr()

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 140 of file CObject.h.

Referenced by mrpt::obs::CRawlog::addActions(), mrpt::slam::CIncrementalMapPartitioner::addMapFrame(), and mrpt::obs::CRawlog::addObservations().

◆ get_type()

TFeatureType mrpt::vision::CFeature::get_type ( ) const

inline

Get the type of the feature.

Definition at line 176 of file CFeature.h.

Referenced by saveToTextFile().

◆ getFirstDescriptorAsMatrix()

bool CFeature::getFirstDescriptorAsMatrix ( mrpt::math::CMatrixFloat & desc ) const

Return the first found descriptor, as a matrix.

Returns: false on error, i.e. there is no valid descriptor.

Definition at line 1200 of file CFeature.cpp.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::vision::CFeature::GetRuntimeClass ( ) const

virtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

◆ internal_distanceBetweenPolarImages()

float CFeature::internal_distanceBetweenPolarImages	(	const mrpt::math::CMatrix &	desc1,
		const mrpt::math::CMatrix &	desc2,
		float &	minDistAngle,
		bool	normalize_distances,
		bool	dont_shift_angle
	)

staticprotected

Internal function used by "descriptorLogPolarImgDistanceTo" and "descriptorPolarImgDistanceTo".

Definition at line 588 of file CFeature.cpp.

References mrpt::gui::CDisplayWindowPlots::image(), M_2PI, mrpt::math::meanAndStd(), MRPT_END, MRPT_START, mrpt::gui::CDisplayWindowPlots::plot(), mrpt::math::square(), and mrpt::gui::CBaseGUIWindow::waitForKey().

Referenced by descriptorLogPolarImgDistanceTo(), and descriptorPolarImgDistanceTo().

◆ isPointFeature()

bool CFeature::isPointFeature ( ) const

Return false only for Blob detectors (SIFT, SURF)

Definition at line 435 of file CFeature.cpp.

References mrpt::vision::featSIFT, and mrpt::vision::featSURF.

◆ operator delete() [1/3]

void mrpt::vision::CFeature::operator delete	(	void *	ptr	)
throw	(
	)

inline

Definition at line 58 of file CFeature.h.

◆ operator delete() [2/3]

void mrpt::vision::CFeature::operator delete	(	void *	memory,
		void *	ptr
	)
throw	(
	)

inline

Definition at line 58 of file CFeature.h.

◆ operator delete() [3/3]

void mrpt::vision::CFeature::operator delete	(	void *	ptr,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 58 of file CFeature.h.

◆ operator delete[]()

void mrpt::vision::CFeature::operator delete[]	(	void *	ptr	)
throw	(
	)

inline

Definition at line 58 of file CFeature.h.

◆ operator new() [1/3]

void* mrpt::vision::CFeature::operator new	(	size_t	size,
		const std::nothrow_t &
	)
throw	(
	)

inline

Definition at line 58 of file CFeature.h.

◆ operator new() [2/3]

static void* mrpt::vision::CFeature::operator new	(	size_t	size,
		void *	ptr
	)

inlinestatic

Definition at line 58 of file CFeature.h.

◆ operator new() [3/3]

void* mrpt::vision::CFeature::operator new ( size_t size )

inline

Definition at line 58 of file CFeature.h.

◆ operator new[]()

void* mrpt::vision::CFeature::operator new[] ( size_t size )

inline

Definition at line 58 of file CFeature.h.

◆ patchCorrelationTo()

float CFeature::patchCorrelationTo ( const CFeature & oFeature ) const

Computes the normalized cross-correlation between the patches of this and another feature (normalized in the range [0,1], such as 0=best, 1=worst).

Note: If this or the other features does not have patches or they are of different sizes, an exception will be raised.

See also: descriptorDistanceTo

Definition at line 443 of file CFeature.cpp.

References ASSERT_, mrpt::utils::CImage::cross_correlation(), mrpt::utils::CImage::getHeight(), mrpt::utils::CImage::getWidth(), MRPT_END, MRPT_START, and patch.

◆ readFromStream()

void CFeature::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedvirtual

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any error, see CStream::ReadBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 358 of file CFeature.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and version.

◆ saveToTextFile()

void CFeature::saveToTextFile	(	const std::string &	filename,
		bool	APPEND = `false`
	)

Save the feature to a text file in this format: "%% Dump of mrpt::vision::CFeatureList. Each line format is:\n" "%% ID TYPE X Y ORIENTATION SCALE TRACK_STATUS RESPONSE HAS_SIFT [SIFT] HAS_SURF [SURF] HAS_MULTI [MULTI_i] HAS_ORB [ORB]" "%% |---------------------- feature ------------------| |---------------------- descriptors ------------------------|" "%% with:\n" "%% TYPE : The used detector: 0:KLT, 1: Harris, 2: BCD, 3: SIFT, 4: SURF, 5: Beacon, 6: FAST, 7: ORB\n" "%% HAS_* : 1 if a descriptor of that type is associated to the feature." "%% SIFT : Present if HAS_SIFT=1: N DESC_0 ... DESC_N-1" "%% SURF : Present if HAS_SURF=1: N DESC_0 ... DESC_N-1" "%% MULTI : Present if HAS_MULTI=1: SCALE ORI N DESC_0 ... DESC_N-1" "%% ORB : Present if HAS_ORB=1: DESC_0 ...

DESC_31 "%%-----------------------------------------------------------------------------\n");

Definition at line 779 of file CFeature.cpp.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or NULL is class does not support conversion to MATLAB.

Definition at line 79 of file CSerializable.h.

◆ writeToStream()

void CFeature::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedvirtual

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Implements mrpt::utils::CSerializable.

Definition at line 319 of file CFeature.cpp.

References version.

Friends And Related Function Documentation

◆ CFeatureList

friend class CFeatureList

friend

Definition at line 55 of file CFeature.h.

◆ CMatchedFeatureList

friend class CMatchedFeatureList

friend

Definition at line 56 of file CFeature.h.

Member Data Documentation

◆ _init_CFeature

mrpt::utils::CLASSINIT mrpt::vision::CFeature::_init_CFeature

staticprotected

Definition at line 58 of file CFeature.h.

◆ classCFeature

mrpt::utils::TRuntimeClassId mrpt::vision::CFeature::classCFeature

static

Definition at line 58 of file CFeature.h.

◆ classCObject

const mrpt::utils::TRuntimeClassId mrpt::utils::CObject::classCObject

staticinherited

Definition at line 128 of file CObject.h.

◆ classCSerializable

const mrpt::utils::TRuntimeClassId mrpt::utils::CSerializable::classCSerializable

staticinherited

Definition at line 42 of file CSerializable.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::vision::CFeature::classinfo

static

Definition at line 58 of file CFeature.h.

◆ depth

double mrpt::vision::CFeature::depth

The estimated depth in 3D of this feature wrt the camera in the current frame.

Definition at line 75 of file CFeature.h.

◆ descriptors

struct VISION_IMPEXP mrpt::vision::CFeature::TDescriptors mrpt::vision::CFeature::descriptors

Referenced by descriptorDistanceTo(), descriptorLogPolarImgDistanceTo(), descriptorORBDistanceTo(), descriptorPolarImgDistanceTo(), descriptorSIFTDistanceTo(), descriptorSpinImgDistanceTo(), descriptorSURFDistanceTo(), getFirstDescriptorAsMatrix(), mrpt::vision::CFeatureList::loadFromTextFile(), and saveToTextFile().

◆ ID

TFeatureID mrpt::vision::CFeature::ID

ID of the feature.

Definition at line 62 of file CFeature.h.

Referenced by mrpt::vision::CFeatureList::getByID(), mrpt::vision::CFeatureList::getMaxID(), mrpt::vision::CFeatureList::loadFromTextFile(), and saveToTextFile().

◆ initialDepth

double mrpt::vision::CFeature::initialDepth

The estimated depth in 3D of this feature wrt the camera that took its image.

Definition at line 76 of file CFeature.h.

◆ multiHashCoeffs

std::deque<std::vector<std::vector<int32_t> > > mrpt::vision::CFeature::multiHashCoeffs

A set of vectors containing the coefficients for a HASH table of descriptors.

Definition at line 80 of file CFeature.h.

◆ multiOrientations

std::deque<std::vector<double> > mrpt::vision::CFeature::multiOrientations

A vector of main orientations (there is a vector of orientations for each scale)

Definition at line 79 of file CFeature.h.

Referenced by saveToTextFile().

◆ multiScales

std::deque<double> mrpt::vision::CFeature::multiScales

A set of scales where the multi-resolution descriptor has been computed.

Definition at line 78 of file CFeature.h.

Referenced by saveToTextFile().

◆ nTimesLastSeen

uint16_t mrpt::vision::CFeature::nTimesLastSeen

Number of frames since it was seen for the last time.

Definition at line 73 of file CFeature.h.

◆ nTimesNotSeen

uint16_t mrpt::vision::CFeature::nTimesNotSeen

Number of frames it has not been seen in a sequence of images.

Definition at line 72 of file CFeature.h.

◆ nTimesSeen

uint16_t mrpt::vision::CFeature::nTimesSeen

Number of frames it has been seen in a sequence of images.

Definition at line 71 of file CFeature.h.

◆ orientation

float mrpt::vision::CFeature::orientation

Main orientation of the feature.

Definition at line 68 of file CFeature.h.

Referenced by mrpt::vision::CFeatureList::loadFromTextFile(), and saveToTextFile().

◆ p3D

mrpt::math::TPoint3D mrpt::vision::CFeature::p3D

The estimated 3D point of this feature wrt its camera.

Definition at line 77 of file CFeature.h.

◆ patch

mrpt::utils::CImage mrpt::vision::CFeature::patch

A patch of the image surrounding the feature.

Definition at line 63 of file CFeature.h.

Referenced by patchCorrelationTo(), and mrpt::vision::detail::trackFeatures_updatePatch< CFeatureList >().

◆ patchSize

uint16_t mrpt::vision::CFeature::patchSize

Size of the patch (patchSize x patchSize) (it must be an odd number)

Definition at line 64 of file CFeature.h.

◆ response

float mrpt::vision::CFeature::response

A measure of the "goodness" of the feature (old name: KLT_val)

Definition at line 67 of file CFeature.h.

Referenced by mrpt::vision::CFeatureList::loadFromTextFile(), saveToTextFile(), and mrpt::vision::detail::trackFeatures_checkResponses< CFeatureList >().

◆ scale

float mrpt::vision::CFeature::scale

Feature scale into the scale space.

Definition at line 69 of file CFeature.h.

Referenced by mrpt::vision::CFeatureList::loadFromTextFile().

◆ track_status

TFeatureTrackStatus mrpt::vision::CFeature::track_status

Status of the feature tracking process (old name: KLT_status)

Definition at line 66 of file CFeature.h.

Referenced by mrpt::vision::CFeatureList::loadFromTextFile(), saveToTextFile(), mrpt::vision::detail::trackFeatures_checkResponses< CFeatureList >(), and mrpt::vision::detail::trackFeatures_updatePatch< CFeatureList >().

◆ type

TFeatureType mrpt::vision::CFeature::type

Type of the feature: featNotDefined, featSIFT, featKLT, featHarris, featSURF, featBeacon.

Definition at line 65 of file CFeature.h.

Referenced by mrpt::vision::CFeatureList::loadFromTextFile().

◆ user_flags

uint8_t mrpt::vision::CFeature::user_flags

A field for any other flags needed by the user (this has not a predefined meaning)

Definition at line 70 of file CFeature.h.

◆ x

float mrpt::vision::CFeature::x

Definition at line 61 of file CFeature.h.

Referenced by mrpt::vision::CFeatureList::loadFromTextFile(), mrpt::vision::detail::trackFeatures_checkResponses< CFeatureList >(), and mrpt::vision::detail::trackFeatures_updatePatch< CFeatureList >().

◆ y

float mrpt::vision::CFeature::y

Coordinates in the image.

Definition at line 61 of file CFeature.h.

Referenced by mrpt::vision::CFeatureList::loadFromTextFile(), mrpt::vision::detail::trackFeatures_checkResponses< CFeatureList >(), and mrpt::vision::detail::trackFeatures_updatePatch< CFeatureList >().

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Static Public Attributes

Protected Member Functions

Static Protected Member Functions

Friends

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CFeature()

◆ ~CFeature()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateObject()

◆ descriptorDistanceTo()

◆ descriptorLogPolarImgDistanceTo()

◆ descriptorORBDistanceTo()

◆ descriptorPolarImgDistanceTo()

◆ descriptorSIFTDistanceTo()

◆ descriptorSpinImgDistanceTo()

◆ descriptorSURFDistanceTo()

◆ dumpToConsole()

◆ dumpToTextStream()

◆ duplicate()

◆ duplicateGetSmartPtr()

◆ get_type()

◆ getFirstDescriptorAsMatrix()

◆ GetRuntimeClass()

◆ internal_distanceBetweenPolarImages()

◆ isPointFeature()

◆ operator delete() [1/3]

◆ operator delete() [2/3]

◆ operator delete() [3/3]

◆ operator delete[]()

◆ operator new() [1/3]

◆ operator new() [2/3]

◆ operator new() [3/3]

◆ operator new[]()

◆ patchCorrelationTo()

◆ readFromStream()

◆ saveToTextFile()

◆ writeToMatlab()

◆ writeToStream()

Friends And Related Function Documentation

◆ CFeatureList

◆ CMatchedFeatureList

Member Data Documentation

◆ _init_CFeature

◆ classCFeature

◆ classCObject

◆ classCSerializable

◆ classinfo

◆ depth

◆ descriptors

◆ ID

◆ initialDepth

◆ multiHashCoeffs

◆ multiOrientations

◆ multiScales

◆ nTimesLastSeen

◆ nTimesNotSeen

◆ nTimesSeen

◆ orientation

◆ p3D

◆ patch

◆ patchSize

◆ response

◆ scale

◆ track_status

◆ type

◆ user_flags

◆ x

◆ y