10 #ifndef mrpt_vision_types_H 11 #define mrpt_vision_types_H 116 typedef std::vector<TFeatureObservation>
BASE;
149 size_t removeFewObservedFeatures(
size_t minNumObservations = 3);
154 void decimateCameraFrames(
const size_t decimate_ratio);
160 std::map<TCameraPoseID,TCameraPoseID> *old2new_camIDs=NULL,
161 std::map<TLandmarkID,TLandmarkID> *old2new_lmIDs=NULL );
238 TROI(
float x1,
float x2,
float y1,
float y2,
float z1,
float z2);
255 TImageROI(
float x1,
float x2,
float y1,
float y2 );
340 #define COPY_MEMBER(_m) this->_m = o._m; 341 #define CHECK_MEMBER(_m) this->_m == o._m 414 firstListCorrespondences(), secondListCorrespondences(),
415 firstListFoundScales(), firstListDistance() {}
443 useOriFilter( true ), oriThreshold( 0.2 ),
444 useDepthFilter( true ), matchingThreshold( 1e4 ), matchingRatioThreshold( 0.5 ),
445 lowScl1(0), lowScl2(0), highScl1(6), highScl2(6), searchAreaSize(20), lastSeenThreshold(10), timesSeenThreshold(5),
446 minFeaturesToFind(30), minFeaturesToBeLost(5) {}
449 const bool &_useOriFilter,
const double &_oriThreshold,
const bool &_useDepthFilter,
450 const double &_th,
const double &_th2,
const unsigned int &_lwscl1,
const unsigned int &_lwscl2,
451 const unsigned int &_hwscl1,
const unsigned int &_hwscl2,
const int &_searchAreaSize,
const int &_lsth,
const int &_tsth,
452 const int &_minFeaturesToFind,
const int &_minFeaturesToBeLost ) :
453 useOriFilter( _useOriFilter ), oriThreshold( _oriThreshold ), useDepthFilter( _useDepthFilter ),
454 matchingThreshold ( _th ), matchingRatioThreshold ( _th2 ), lowScl1( _lwscl1 ), lowScl2( _lwscl2 ),
455 highScl1( _hwscl1 ), highScl2( _hwscl2 ), searchAreaSize( _searchAreaSize ), lastSeenThreshold( _lsth ), timesSeenThreshold( _tsth ),
456 minFeaturesToFind( _minFeaturesToFind ), minFeaturesToBeLost(_minFeaturesToBeLost) {}
474 double fx,cx,cy,baseline;
482 basePSize(23), sg1 (0.5), sg2(7.5), sg3(8.0), computeDepth(true), blurImage(true), fx(0.0), cx(0.0), cy(0.0), baseline(0.0), computeHashCoeffs(false), cropValue(0.2)
497 const unsigned int &_comLScl,
const unsigned int &_comHScl,
498 const double &_sg1,
const double &_sg2,
const double &_sg3,
499 const bool &_computeDepth,
const bool _blurImage,
const double &_fx,
const double &_cx,
const double &_cy,
const double &_baseline,
const bool &_computeHashCoeffs,
const double &_cropValue ):
500 basePSize( _basePSize ), comLScl( _comLScl ), comHScl( _comHScl ),
501 sg1( _sg1 ), sg2( _sg2 ), sg3( _sg3 ),
502 computeDepth( _computeDepth ), blurImage( _blurImage ), fx( _fx ), cx( _cx ), cy( _cy ), baseline( _baseline ), computeHashCoeffs( _computeHashCoeffs), cropValue( _cropValue )
504 scales.resize( _scales.size() );
505 for(
unsigned int k = 0; k < _scales.size(); ++k)
506 scales[k] = _scales[k];
uint32_t highScl2
The highest scales in the two features to be taken into account in the matching process.
TUnc_Prop_Method
Method for propagating the feature's image coordinate uncertainty into 3D space.
A pair (x,y) of pixel coordinates (subpixel resolution).
float EDD_RATIO
Boundary Ratio between the two lowest EDD.
float rCC_TH
Maximum Ratio Between the two highest CC values.
TLandmarkID id_feature
A unique ID of this feature.
Non-defined feature (also used for Occupancy features)
mrpt::math::CMatrixDouble33 F
Stereo Fundamental matrix.
TSequenceFeatureObservations()
uint32_t minFeaturesToFind
The minimum number of features allowed in the system. If current number is below this value...
void operator=(const TMatchingOptions &o)
double maxORB_dist
Maximun distance between ORB descriptors.
Used in some methods to mean "any of the present descriptors".
bool estimateDepth
Whether or not estimate the 3D position of the real features for the matches (only with parallelOptic...
std::map< mrpt::vision::TFeatureID, TRelativeFeaturePos > TRelativeFeaturePosMap
An index of feature IDs and their relative locations.
bool useXRestriction
Whether or not employ the x-coord restriction for finding correspondences (bumblebee camera...
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
TMultiResMatchingOutput()
mrpt::math::CMatrixDouble33 F
FASTER-9 detector, Edward Rosten's libcvd implementation optimized for SSE2.
double SAD_RATIO
Boundary Ratio between the two highest SAD.
std::vector< TFeatureObservation > BASE
Struct containing the output after matching multi-resolution SIFT-like descriptors.
One feature observation entry, used within sequences with TSequenceFeatureObservations.
std::map< TYPE1, TYPE2, std::less< TYPE1 >, Eigen::aligned_allocator< std::pair< const TYPE1, TYPE2 > > > map_t
TSequenceFeatureObservations(const TSequenceFeatureObservations &o)
void saveToTextFile(const std::string &file, mrpt::math::TMatrixTextFileFormat fileFormat=mrpt::math::MATRIX_FORMAT_ENG, bool appendMRPTHeader=false, const std::string &userHeader=std::string()) const
Save matrix to a text file, compatible with MATLAB text format (see also the methods of matrix classe...
std::vector< int > secondListCorrespondences
Contains the indexes within the first list corresponding to the second one.
float epipolar_TH
Epipolar constraint (rows of pixels)
float minZ
Maximum allowed distance.
Feature correctly tracked.
float EDSD_RATIO
Boundary Ratio between the two lowest SURF EDSD.
mrpt::utils::TPixelCoordf px
The pixel coordinates of the observed feature.
bool useEpipolarRestriction
Whether or not take into account the epipolar restriction for finding correspondences.
std::vector< double > firstListDistance
Contains the distances between the descriptors.
TFeatureObservation(const TLandmarkID _id_feature, const TCameraPoseID _id_frame, const mrpt::utils::TPixelCoordf &_px)
TMultiResDescOptions()
Default constructor.
float factor_k
K factor for the UT.
A complete sequence of observations of features from different camera frames (poses).
This class allows loading and storing values and vectors of different types from a configuration text...
float yMin
Y coordinate limits [0,imageHeight)
A structure for storing a 3D ROI.
FAST feature detector, OpenCV's implementation ("Faster and better: A machine learning approach to co...
bool useDisparityLimits
Whether or not use limits (min,max) for the disparity, see also 'min_disp, max_disp'.
float stdPixel
Standard deviation of the error in feature detection.
Inactive (right after detection, and before being tried to track)
A structure for defining a ROI within an image.
bool computeHashCoeffs
Whether or not compute the coefficients for mantaining a HASH table of descriptors (for relocalizatio...
std::vector< int > firstListFoundScales
Contains the scales of the first list where the correspondence was found.
Matching by Euclidean distance between SIFT descriptors.
mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t TFramePosesVec
A list of camera frames (6D poses), which assumes indexes are unique, consecutive IDs...
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
bool parallelOpticalAxis
Whether or not the stereo rig has the optical axes parallel.
float minDCC_TH
Minimum Difference Between the Maximum Cross Correlation Values.
uint32_t basePSize
The size of the base patch.
TUnc_Prop_Method uncPropagation
uint32_t timesSeenThreshold
The minimum number of frames for a certain feature to be considered stable.
TMatchingMethod
Method for propagating the feature's image coordinate uncertainty into 3D space.
Parameters associated to a stereo system.
bool addMatches
Whether or not to add the matches found into the input matched list (if false the input list will be ...
TMultiResDescMatchOptions()
Default constructor.
uint32_t lastSeenThreshold
The allowed number of frames since a certain feature was seen for the last time.
Harris border and corner detector [HARRIS].
bool useDepthFilter
Whether or not use the filter based on the depth test.
Scale Invariant Feature Transform [LOWE'04].
Matching by Euclidean distance between SURF descriptors.
float maxY
Maximum allowed height.
TSequenceFeatureObservations(size_t size)
double sg3
The sigmas for the Gaussian kernels.
FASTER-9 detector, Edward Rosten's libcvd implementation optimized for SSE2.
Uncertainty propagation through the Unscented Transformation.
std::vector< int > firstListCorrespondences
Contains the indexes within the second list corresponding to the first one.
double maxDepthThreshold
The maximum allowed depth for the matching. If its computed depth is larger than this, the match won't be considered.
FASTER-9 detector, Edward Rosten's libcvd implementation optimized for SSE2.
uint64_t TFeatureID
Definition of a feature ID.
Bit-based feature descriptor.
One relative feature observation entry, used with some relative bundle-adjustment functions...
GLsizei const GLchar ** string
double cropValue
The SIFT-like descriptor is cropped at this value during normalization.
TDescriptorType
The bitwise OR combination of values of TDescriptorType are used in CFeatureExtraction::computeDescri...
float xMin
X coordinate limits [0,imageWidth)
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.
Matching by sum of absolute differences of the image patches.
uint32_t searchAreaSize
Size of the squared area where to search for a match.
double maxSAD_TH
Minimum Euclidean Distance Between Sum of Absolute Differences.
Unable to track this feature (mismatch is too high for the given tracking window: lack of texture...
void loadFromTextFile(const std::string &file)
Load matrix from a text file, compatible with MATLAB text format.
std::vector< double > scales
The set of scales relatives to the base patch.
unsigned __int64 uint64_t
uint64_t TCameraPoseID
Unique IDs for camera frames (poses)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
uint64_t TLandmarkID
Unique IDs for landmarks.
bool computeDepth
Whether or not to compute the depth of the feature.
double oriThreshold
The threshold for the orientation test.
Log-Polar image descriptor.
Struct containing the options when computing the multi-resolution SIFT-like descriptors.
TRelativeFeaturePos(const mrpt::vision::TCameraPoseID _id_frame_base, const mrpt::math::TPoint3D &_pos)
bool enable_robust_1to1_match
Whether or not only permit matches that are consistent from left->right and right->left.
Speeded Up Robust Feature [BAY'06].
float maxZ
Maximum allowed distance.
A structure containing options for the matching.
bool hasFundamentalMatrix
Whether or not there is a fundamental matrix.
GLsizei GLsizei GLchar * source
std::vector< mrpt::math::TPoint3D > TLandmarkLocationsVec
A list of landmarks (3D points), which assumes indexes are unique, consecutive IDs.
Struct containing the options when matching multi-resolution SIFT-like descriptors.
float maxEDSD_TH
Maximum Euclidean Distance Between SURF Descriptors.
std::map< TLandmarkID, mrpt::math::TPoint3D > TLandmarkLocationsMap
A list of landmarks (3D points) indexed by unique IDs.
float minCC_TH
Minimum Value of the Cross Correlation.
Intensity-domain spin image descriptors.
float factor_a
Alpha factor for SUT.
mrpt::vision::TCameraPoseID id_frame_base
The ID of the camera frame which is the coordinate reference of pos.
float factor_b
Beta factor for the SUT.
TCameraPoseID id_frame
A unique ID of a "frame" (camera position) from where the feature was observed.
double matchingThreshold
The absolute threshold in descriptor distance for considering a match.
float maxEDD_TH
Maximum Euclidean Distance Between SIFT Descriptors.
TMultiResDescMatchOptions(const bool &_useOriFilter, const double &_oriThreshold, const bool &_useDepthFilter, const double &_th, const double &_th2, const unsigned int &_lwscl1, const unsigned int &_lwscl2, const unsigned int &_hwscl1, const unsigned int &_hwscl2, const int &_searchAreaSize, const int &_lsth, const int &_tsth, const int &_minFeaturesToFind, const int &_minFeaturesToBeLost)
A especial case: this is not an image feature, but a 2D/3D beacon (used for range-only SLAM from mrpt...
bool operator==(const TMatchingOptions &o) const
ORB detector and descriptor, OpenCV's implementation ("ORB: an efficient alternative to SIFT or SURF"...
uint32_t minFeaturesToBeLost
The minimum number of features allowed in the system to not be considered to be lost.
Feature fell Out Of Bounds (out of the image limits, too close to image borders)
TMatchingMethod matching_method
Matching method.
mrpt::math::TPoint3D pos
The (x,y,z) location of the feature, wrt to the camera frame id_frame_base.
mrpt::aligned_containers< TCameraPoseID, mrpt::poses::CPose3D >::map_t TFramePosesMap
A list of camera frames (6D poses) indexed by unique IDs.
bool useOriFilter
Whether or not use the filter based on orientation test.
unsigned __int32 uint32_t
Kanade-Lucas-Tomasi feature [SHI'94].
bool blurImage
Whether or not to blur the image previously to compute the descriptors.
TMultiResDescOptions(const unsigned int &_basePSize, const std::vector< double > &_scales, const unsigned int &_comLScl, const unsigned int &_comHScl, const double &_sg1, const double &_sg2, const double &_sg3, const bool &_computeDepth, const bool _blurImage, const double &_fx, const double &_cx, const double &_cy, const double &_baseline, const bool &_computeHashCoeffs, const double &_cropValue)
std::vector< TYPE1, Eigen::aligned_allocator< TYPE1 > > vector_t
double matchingRatioThreshold
The ratio between the two lowest distances threshold for considering a match.
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
float stdDisp
Standard deviation of the error in disparity computation.
uint32_t lowScl2
The lowest scales in the two features to be taken into account in the matching process.
mrpt::math::CMatrixDouble33 K
Intrinsic parameters.