MRPT
2.0.1
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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.
Definition at line 53 of file CFeature.h.
#include <mrpt/vision/CFeature.h>
Classes | |
struct | TDescriptors |
All the possible descriptors this feature may have. More... | |
Public Member Functions | |
CFeature ()=default | |
~CFeature () override=default | |
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... | |
float | descriptorBLDDistanceTo (const CFeature &oFeature, bool normalize_distances=true) const |
Computes the Euclidean Distance between "this" and the "other" descriptors. More... | |
float | descriptorLATCHDistanceTo (const CFeature &oFeature, bool normalize_distances=true) const |
Computes the Euclidean Distance between "this" and the "other" descriptors. 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. More... | |
TKeyPointMethod | get_type () const |
Get the type of the feature. More... | |
void | dumpToTextStream (std::ostream &out) const |
Dump feature information into a text stream. More... | |
void | dumpToConsole () const |
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... | |
RTTI classes and functions for polymorphic hierarchies | |
mrpt::rtti::CObject::Ptr | duplicateGetSmartPtr () const |
Makes a deep copy of the object and returns a smart pointer to it. More... | |
Public Attributes | |
TKeyPointf | keypoint |
std::optional< mrpt::img::CImage > | patch |
A patch of the image surrounding the feature. More... | |
uint16_t | patchSize {21} |
Size of the patch (patchSize x patchSize) (it must be an odd number) More... | |
TKeyPointMethod | type {featNotDefined} |
Keypoint method used to detect this feature. More... | |
TFeatureTrackStatus | track_status {status_IDLE} |
Status of the feature tracking process. More... | |
float | response {0.0} |
A measure of the "goodness" of the feature. More... | |
float | orientation {0.0} |
Main orientation of the feature. More... | |
uint8_t | user_flags {0} |
A field for any other flags needed by the user (this has not a predefined meaning) More... | |
float | x2 [2] |
float | y2 [2] |
Coordinates for a LSD Detector to represent a line. More... | |
double | depth |
The estimated depth in 3D of this feature wrt the camera. More... | |
double | initialDepth |
in the current frame More... | |
mrpt::math::TPoint3D | p3D |
camera that took its image More... | |
TDescriptors | descriptors |
Protected Member Functions | |
CSerializable virtual methods | |
uint8_t | serializeGetVersion () const override |
Must return the current versioning number of the object. More... | |
void | serializeTo (mrpt::serialization::CArchive &out) const override |
Pure virtual method for writing (serializing) to an abstract archive. More... | |
void | serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override |
Pure virtual method for reading (deserializing) from an abstract archive. More... | |
CSerializable virtual methods | |
virtual void | serializeTo (CSchemeArchiveBase &out) const |
Virtual method for writing (serializing) to an abstract schema based archive. More... | |
virtual void | serializeFrom (CSchemeArchiveBase &in) |
Virtual method for reading (deserializing) from an abstract schema based archive. More... | |
Static Protected Member Functions | |
static float | internal_distanceBetweenPolarImages (const mrpt::math::CMatrixF &desc1, const mrpt::math::CMatrixF &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 | |
using | Ptr = std::shared_ptr< mrpt::vision ::CFeature > |
using | ConstPtr = std::shared_ptr< const mrpt::vision ::CFeature > |
using | UniquePtr = std::unique_ptr< mrpt::vision ::CFeature > |
using | ConstUniquePtr = std::unique_ptr< const mrpt::vision ::CFeature > |
static const mrpt::rtti::TRuntimeClassId | runtimeClassId |
static constexpr const char * | className = "mrpt::vision" "::" "CFeature" |
static const mrpt::rtti::TRuntimeClassId * | _GetBaseClass () |
static constexpr auto | getClassName () |
static const mrpt::rtti::TRuntimeClassId & | GetRuntimeClassIdStatic () |
static std::shared_ptr< CObject > | CreateObject () |
template<typename... Args> | |
static Ptr | Create (Args &&... args) |
template<typename Alloc , typename... Args> | |
static Ptr | CreateAlloc (const Alloc &alloc, Args &&... args) |
template<typename... Args> | |
static UniquePtr | CreateUnique (Args &&... args) |
virtual const mrpt::rtti::TRuntimeClassId * | GetRuntimeClass () const override |
Returns information about the class of an object in runtime. More... | |
virtual mrpt::rtti::CObject * | clone () const override |
Returns a deep copy (clone) of the object, indepently of its class. More... | |
using mrpt::vision::CFeature::ConstPtr = std::shared_ptr<const mrpt::vision :: CFeature > |
Definition at line 58 of file CFeature.h.
using mrpt::vision::CFeature::ConstUniquePtr = std::unique_ptr<const mrpt::vision :: CFeature > |
Definition at line 58 of file CFeature.h.
using mrpt::vision::CFeature::Ptr = std::shared_ptr< mrpt::vision :: CFeature > |
A type for the associated smart pointer
Definition at line 58 of file CFeature.h.
using mrpt::vision::CFeature::UniquePtr = std::unique_ptr< mrpt::vision :: CFeature > |
Definition at line 58 of file CFeature.h.
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default |
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overridedefault |
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staticprotected |
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overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::rtti::CObject.
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inlinestatic |
Definition at line 58 of file CFeature.h.
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inlinestatic |
Definition at line 58 of file CFeature.h.
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static |
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inlinestatic |
Definition at line 58 of file CFeature.h.
float CFeature::descriptorBLDDistanceTo | ( | const CFeature & | oFeature, |
bool | normalize_distances = true |
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) | const |
Computes the Euclidean Distance between "this" and the "other" descriptors.
Definition at line 751 of file CFeature.cpp.
References ASSERT_, mrpt::vision::CFeature::TDescriptors::BLD, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorBLD(), and mrpt::square().
float CFeature::descriptorDistanceTo | ( | const CFeature & | oFeature, |
TDescriptorType | descriptorToUse = descAny , |
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bool | normalize_distances = true |
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) | const |
Computes the Euclidean Distance between this feature's and other feature's descriptors, using the given descriptor or the first present one.
Definition at line 394 of file CFeature.cpp.
References mrpt::vision::descAny, mrpt::vision::descBLD, mrpt::vision::descLATCH, mrpt::vision::descLogPolarImages, mrpt::vision::descORB, mrpt::vision::descPolarImages, mrpt::vision::descSIFT, mrpt::vision::descSpinImages, mrpt::vision::descSURF, MRPT_END, MRPT_START, THROW_EXCEPTION, and THROW_EXCEPTION_FMT.
float CFeature::descriptorLATCHDistanceTo | ( | const CFeature & | oFeature, |
bool | normalize_distances = true |
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) | const |
Computes the Euclidean Distance between "this" and the "other" descriptors.
Definition at line 776 of file CFeature.cpp.
References ASSERT_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorLATCH(), mrpt::vision::CFeature::TDescriptors::LATCH, and mrpt::square().
float CFeature::descriptorLogPolarImgDistanceTo | ( | const CFeature & | oFeature, |
float & | minDistAngle, | ||
bool | normalize_distances = true |
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) | const |
Returns the minimum Euclidean Distance between "this" and the "other" log-polar image descriptor, for the best shift in orientation.
oFeature | The other feature to compare with. |
minDistAngle | The placeholder for the angle at which the smallest distance is found. |
Definition at line 690 of file CFeature.cpp.
References ASSERT_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorLogPolarImg(), mrpt::vision::CFeature::TDescriptors::LogPolarImg, MRPT_END, and MRPT_START.
uint8_t CFeature::descriptorORBDistanceTo | ( | const CFeature & | oFeature | ) | const |
Computes the Hamming distance "this" and the "other" descriptor ORB descriptor.
Definition at line 721 of file CFeature.cpp.
References ASSERT_, descriptors, mrpt::math::distance(), mrpt::vision::CFeature::TDescriptors::hasDescriptorORB(), and mrpt::vision::CFeature::TDescriptors::ORB.
float CFeature::descriptorPolarImgDistanceTo | ( | const CFeature & | oFeature, |
float & | minDistAngle, | ||
bool | normalize_distances = true |
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) | const |
Returns the minimum Euclidean Distance between "this" and the "other" polar image descriptor, for the best shift in orientation.
oFeature | The other feature to compare with. |
minDistAngle | The placeholder for the angle at which the smallest distance is found. |
Definition at line 662 of file CFeature.cpp.
References ASSERT_, ASSERT_ABOVE_, ASSERT_EQUAL_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorPolarImg(), MRPT_END, MRPT_START, and mrpt::vision::CFeature::TDescriptors::PolarImg.
float CFeature::descriptorSIFTDistanceTo | ( | const CFeature & | oFeature, |
bool | normalize_distances = true |
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) | const |
Computes the Euclidean Distance between "this" and the "other" descriptors.
Definition at line 464 of file CFeature.cpp.
References ASSERT_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorSIFT(), mrpt::vision::CFeature::TDescriptors::SIFT, and mrpt::square().
float CFeature::descriptorSpinImgDistanceTo | ( | const CFeature & | oFeature, |
bool | normalize_distances = true |
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) | 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::hasDescriptorSpinImg(), mrpt::vision::CFeature::TDescriptors::SpinImg, and mrpt::square().
float CFeature::descriptorSURFDistanceTo | ( | const CFeature & | oFeature, |
bool | normalize_distances = true |
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) | const |
Computes the Euclidean Distance between "this" and the "other" descriptors.
Definition at line 491 of file CFeature.cpp.
References ASSERT_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorSURF(), mrpt::square(), and mrpt::vision::CFeature::TDescriptors::SURF.
void CFeature::dumpToConsole | ( | ) | const |
Definition at line 312 of file CFeature.cpp.
void CFeature::dumpToTextStream | ( | std::ostream & | out | ) | const |
Dump feature information into a text stream.
Definition at line 253 of file CFeature.cpp.
References mrpt::format(), and out.
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inlineinherited |
Makes a deep copy of the object and returns a smart pointer to it.
Definition at line 204 of file CObject.h.
References mrpt::rtti::CObject::clone().
Referenced by mrpt::obs::CRawlog::insert().
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inline |
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inlinestatic |
Definition at line 58 of file CFeature.h.
bool CFeature::getFirstDescriptorAsMatrix | ( | mrpt::math::CMatrixFloat & | desc | ) | const |
Return the first found descriptor, as a matrix.
Definition at line 1241 of file CFeature.cpp.
References mrpt::math::MatrixVectorBase< Scalar, Derived >::coeffRef(), mrpt::math::CMatrixDynamic< T >::resize(), mrpt::math::CMatrixDynamic< T >::setSize(), and mrpt::math::CMatrixDynamic< T >::size().
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overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::serialization::CSerializable.
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static |
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staticprotected |
Internal function used by "descriptorLogPolarImgDistanceTo" and "descriptorPolarImgDistanceTo".
Definition at line 547 of file CFeature.cpp.
References mrpt::math::CMatrixDynamic< T >::cols(), mrpt::d2f(), M_2PI, mrpt::math::meanAndStd(), mrpt::math::MatrixVectorBase< Scalar, Derived >::minCoeff(), MRPT_END, MRPT_START, mrpt::math::CVectorDynamic< T >::resize(), mrpt::math::CMatrixDynamic< T >::rows(), mrpt::square(), mrpt::math::MatrixVectorBase< Scalar, Derived >::sum(), and win.
bool CFeature::isPointFeature | ( | ) | const |
Return false only for Blob detectors (SIFT, SURF)
Definition at line 364 of file CFeature.cpp.
References mrpt::vision::featSIFT, and mrpt::vision::featSURF.
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).
Definition at line 372 of file CFeature.cpp.
References ASSERT_, mrpt::d2f(), MRPT_END, MRPT_START, mrpt::vision::openCV_cross_correlation(), and patch.
void CFeature::saveToTextFile | ( | const std::string & | filename, |
bool | APPEND = false |
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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 801 of file CFeature.cpp.
References MRPT_END, MRPT_START, and THROW_EXCEPTION.
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overrideprotectedvirtual |
Pure virtual method for reading (deserializing) from an abstract archive.
Users don't call this method directly. Instead, use stream >> object;
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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. |
std::exception | On any I/O error |
Implements mrpt::serialization::CSerializable.
Definition at line 327 of file CFeature.cpp.
References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.
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inlineprotectedvirtualinherited |
Virtual method for reading (deserializing) from an abstract schema based archive.
Definition at line 74 of file CSerializable.h.
References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.
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overrideprotectedvirtual |
Must return the current versioning number of the object.
Start in zero for new classes, and increments each time there is a change in the stored format.
Implements mrpt::serialization::CSerializable.
Definition at line 313 of file CFeature.cpp.
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overrideprotectedvirtual |
Pure virtual method for writing (serializing) to an abstract archive.
Users don't call this method directly. Instead, use stream << object;
.
std::exception | On any I/O error |
Implements mrpt::serialization::CSerializable.
Definition at line 314 of file CFeature.cpp.
References out.
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inlineprotectedvirtualinherited |
Virtual method for writing (serializing) to an abstract schema based archive.
Definition at line 64 of file CSerializable.h.
References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.
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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.
mxArray
(caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB. Definition at line 90 of file CSerializable.h.
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friend |
Definition at line 55 of file CFeature.h.
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friend |
Definition at line 56 of file CFeature.h.
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static |
Definition at line 58 of file CFeature.h.
double mrpt::vision::CFeature::depth |
The estimated depth in 3D of this feature wrt the camera.
Definition at line 91 of file CFeature.h.
TDescriptors mrpt::vision::CFeature::descriptors |
Definition at line 157 of file CFeature.h.
Referenced by descriptorBLDDistanceTo(), descriptorLATCHDistanceTo(), descriptorLogPolarImgDistanceTo(), descriptorORBDistanceTo(), descriptorPolarImgDistanceTo(), descriptorSIFTDistanceTo(), descriptorSpinImgDistanceTo(), descriptorSURFDistanceTo(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::CFeatureExtraction::extractFeaturesSURF(), and mrpt::vision::CFeatureList::loadFromTextFile().
double mrpt::vision::CFeature::initialDepth |
in the current frame
The estimated depth in 3D of this feature wrt the
Definition at line 95 of file CFeature.h.
TKeyPointf mrpt::vision::CFeature::keypoint |
Definition at line 64 of file CFeature.h.
Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesAKAZE(), mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureExtraction::extractFeaturesKLT(), mrpt::vision::CFeatureExtraction::extractFeaturesLSD(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::CFeatureExtraction::extractFeaturesSURF(), mrpt::vision::CFeatureList::loadFromTextFile(), mrpt::vision::projectMatchedFeature(), and mrpt::vision::detail::trackFeatures_addNewFeats< CFeatureList >().
float mrpt::vision::CFeature::orientation {0.0} |
Main orientation of the feature.
Definition at line 81 of file CFeature.h.
Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesAKAZE(), mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::CFeatureExtraction::extractFeaturesSURF(), mrpt::vision::CFeatureList::loadFromTextFile(), and mrpt::vision::detail::trackFeatures_addNewFeats< CFeatureList >().
mrpt::math::TPoint3D mrpt::vision::CFeature::p3D |
camera that took its image
The estimated 3D point of this feature wrt its camera
Definition at line 99 of file CFeature.h.
std::optional<mrpt::img::CImage> mrpt::vision::CFeature::patch |
A patch of the image surrounding the feature.
Definition at line 67 of file CFeature.h.
Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesAKAZE(), mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureExtraction::extractFeaturesKLT(), mrpt::vision::CFeatureExtraction::extractFeaturesLSD(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::CFeatureExtraction::extractFeaturesSURF(), patchCorrelationTo(), and mrpt::vision::detail::trackFeatures_addNewFeats< CFeatureList >().
uint16_t mrpt::vision::CFeature::patchSize {21} |
Size of the patch (patchSize x patchSize) (it must be an odd number)
Definition at line 70 of file CFeature.h.
Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesAKAZE(), mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureExtraction::extractFeaturesKLT(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::CFeatureExtraction::extractFeaturesSURF(), and mrpt::vision::detail::trackFeatures_addNewFeats< CFeatureList >().
float mrpt::vision::CFeature::response {0.0} |
A measure of the "goodness" of the feature.
Definition at line 79 of file CFeature.h.
Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesAKAZE(), mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureExtraction::extractFeaturesKLT(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureList::loadFromTextFile(), and mrpt::vision::detail::trackFeatures_addNewFeats< CFeatureList >().
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staticprotected |
Definition at line 58 of file CFeature.h.
TFeatureTrackStatus mrpt::vision::CFeature::track_status {status_IDLE} |
Status of the feature tracking process.
Definition at line 76 of file CFeature.h.
Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesKLT(), and mrpt::vision::CFeatureList::loadFromTextFile().
TKeyPointMethod mrpt::vision::CFeature::type {featNotDefined} |
Keypoint method used to detect this feature.
Definition at line 73 of file CFeature.h.
Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesAKAZE(), mrpt::vision::CFeatureExtraction::extractFeaturesFAST(), mrpt::vision::CFeatureExtraction::extractFeaturesKLT(), mrpt::vision::CFeatureExtraction::extractFeaturesLSD(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::CFeatureExtraction::extractFeaturesSURF(), get_type(), mrpt::vision::CFeatureList::loadFromTextFile(), and mrpt::vision::detail::trackFeatures_addNewFeats< CFeatureList >().
uint8_t mrpt::vision::CFeature::user_flags {0} |
A field for any other flags needed by the user (this has not a predefined meaning)
Definition at line 86 of file CFeature.h.
float mrpt::vision::CFeature::x2[2] |
Definition at line 89 of file CFeature.h.
Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesLSD().
float mrpt::vision::CFeature::y2[2] |
Coordinates for a LSD Detector to represent a line.
Definition at line 89 of file CFeature.h.
Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesLSD().
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