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vision/include/mrpt/vision/utils.h File Reference
#include <mrpt/vision/CFeature.h>
#include <mrpt/utils/CImage.h>
#include <mrpt/utils/TStereoCamera.h>
#include <mrpt/math/CMatrixTemplate.h>
#include <mrpt/utils/CLoadableOptions.h>
#include <mrpt/utils/TMatchingPair.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/vision/types.h>
#include <mrpt/vision/chessboard_camera_calib.h>
#include <mrpt/obs/obs_frwds.h>
#include <mrpt/vision/link_pragmas.h>
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Namespaces

 mrpt
 This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
 
 mrpt::maps
 
 mrpt::obs
 This namespace contains representation of robot actions and observations.
 
 mrpt::vision
 Classes for computer vision, detectors, features, etc.
 

Functions

void VISION_IMPEXP mrpt::vision::openCV_cross_correlation (const mrpt::utils::CImage &img, const mrpt::utils::CImage &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. More...
 
void VISION_IMPEXP mrpt::vision::flip (mrpt::utils::CImage &img)
 Invert an image using OpenCV function. More...
 
mrpt::math::TPoint3D VISION_IMPEXP mrpt::vision::pixelTo3D (const mrpt::utils::TPixelCoordf &xy, const mrpt::math::CMatrixDouble33 &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. More...
 
mrpt::math::CMatrixDouble33
VISION_IMPEXP 
mrpt::vision::buildIntrinsicParamsMatrix (const double focalLengthX, const double focalLengthY, const double centerX, const double centerY)
 Builds the intrinsic parameters matrix A from parameters: More...
 
mrpt::math::CMatrixDouble33
VISION_IMPEXP 
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: More...
 
void VISION_IMPEXP mrpt::vision::deleteRepeatedFeats (CFeatureList &list)
 Explore the feature list and removes features which are in the same coordinates. More...
 
void VISION_IMPEXP mrpt::vision::rowChecking (CFeatureList &leftList, CFeatureList &rightList, float threshold=1.0)
 Search for correspondences which are not in the same row and deletes them. More...
 
void VISION_IMPEXP mrpt::vision::getDispersion (const CFeatureList &list, mrpt::math::CVectorFloat &std, mrpt::math::CVectorFloat &mean)
 Computes the dispersion of the features in the image. More...
 
double VISION_IMPEXP mrpt::vision::computeMsd (const mrpt::utils::TMatchingPairList &list, const poses::CPose3D &Rt)
 Computes the mean squared distance between a set of 3D correspondences ... More...
 
void VISION_IMPEXP mrpt::vision::cloudsToMatchedList (const mrpt::obs::CObservationVisualLandmarks &cloud1, const mrpt::obs::CObservationVisualLandmarks &cloud2, mrpt::utils::TMatchingPairList &outList)
 Transform two clouds of 3D points into a matched list of points ... More...
 
float VISION_IMPEXP mrpt::vision::computeMainOrientation (const mrpt::utils::CImage &image, unsigned int x, unsigned int y)
 Computes the main orientation of a set of points with an image (for using in SIFT-based algorithms) More...
 
void VISION_IMPEXP mrpt::vision::normalizeImage (const mrpt::utils::CImage &image, mrpt::utils::CImage &nimage)
 Normalizes the brigthness and contrast of an image by setting its mean value to zero and its standard deviation to unit. More...
 
size_t VISION_IMPEXP mrpt::vision::matchFeatures (const CFeatureList &list1, const CFeatureList &list2, CMatchedFeatureList &matches, const TMatchingOptions &options=TMatchingOptions(), const TStereoSystemParams &params=TStereoSystemParams())
 Find the matches between two lists of features which must be of the same type. More...
 
void VISION_IMPEXP mrpt::vision::generateMask (const CMatchedFeatureList &mList, mrpt::math::CMatrixBool &mask1, mrpt::math::CMatrixBool &mask2, int wSize=10)
 Calculates the Sum of Absolutes Differences (range [0,1]) between two patches. More...
 
double VISION_IMPEXP mrpt::vision::computeSAD (const mrpt::utils::CImage &patch1, const mrpt::utils::CImage &patch2)
 Calculates the Sum of Absolutes Differences (range [0,1]) between two patches. More...
 
void VISION_IMPEXP mrpt::vision::addFeaturesToImage (const mrpt::utils::CImage &inImg, const CFeatureList &theList, mrpt::utils::CImage &outImg)
 Draw rectangles around each of the features on a copy of the input image. More...
 
void VISION_IMPEXP mrpt::vision::projectMatchedFeatures (const CMatchedFeatureList &matches, const mrpt::utils::TStereoCamera &stereo_camera, std::vector< mrpt::math::TPoint3D > &out_points)
 
void VISION_IMPEXP mrpt::vision::projectMatchedFeatures (const CFeatureList &leftList, const CFeatureList &rightList, std::vector< mrpt::math::TPoint3D > &vP3D, const TStereoSystemParams &params=TStereoSystemParams())
 Computes the 3D position of a set of matched features from their coordinates in the images. More...
 
void VISION_IMPEXP mrpt::vision::projectMatchedFeature (const CFeaturePtr &leftFeat, const CFeaturePtr &rightFeat, mrpt::math::TPoint3D &p3D, const TStereoSystemParams &params=TStereoSystemParams())
 Computes the 3D position of a particular matched feature. More...
 
void VISION_IMPEXP mrpt::vision::projectMatchedFeatures (CMatchedFeatureList &mfList, const TStereoSystemParams &param, mrpt::maps::CLandmarksMap &landmarks)
 Project a list of matched features into the 3D space, using the provided parameters of the stereo system. More...
 
void VISION_IMPEXP mrpt::vision::projectMatchedFeatures (CFeatureList &leftList, CFeatureList &rightList, const TStereoSystemParams &param, mrpt::maps::CLandmarksMap &landmarks)
 Project a pair of feature lists into the 3D space, using the provided options for the stereo system. More...
 
void VISION_IMPEXP mrpt::vision::StereoObs2BRObs (const mrpt::obs::CObservationStereoImages &inObs, const std::vector< double > &sg, mrpt::obs::CObservationBearingRange &outObs)
 Converts a stereo images observation into a bearing and range observation. More...
 
void VISION_IMPEXP mrpt::vision::StereoObs2BRObs (const CMatchedFeatureList &inMatches, const mrpt::math::CMatrixDouble33 &intrinsicParams, const double &baseline, const mrpt::poses::CPose3D &sensorPose, const std::vector< double > &sg, mrpt::obs::CObservationBearingRange &outObs)
 Converts a matched feature list into a bearing and range observation (some of the stereo camera system must be provided). More...
 
void VISION_IMPEXP mrpt::vision::StereoObs2BRObs (const mrpt::obs::CObservationVisualLandmarks &inObs, mrpt::obs::CObservationBearingRange &outObs)
 Converts a CObservationVisualLandmarks into a bearing and range observation (without any covariances). More...
 
void VISION_IMPEXP mrpt::vision::computeStereoRectificationMaps (const mrpt::utils::TCamera &cam1, const mrpt::utils::TCamera &cam2, const mrpt::poses::CPose3D &rightCameraPose, void *outMap1x, void *outMap1y, void *outMap2x, void *outMap2y)
 Computes a pair of x-and-y maps for stereo rectification from a pair of cameras and the relative pose of the second one wrt the first one. More...
 



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