10 #ifndef mrpt_vision_types_H 11 #define mrpt_vision_types_H 180 typedef std::map<mrpt::vision::TFeatureID, TRelativeFeaturePos>
193 typedef std::vector<TFeatureObservation>
BASE;
209 const std::string& filName,
bool skipFirstCommentLine =
false)
const;
249 std::map<TCameraPoseID, TCameraPoseID>* old2new_camIDs =
nullptr,
250 std::map<TLandmarkID, TLandmarkID>* old2new_lmIDs =
nullptr);
332 TROI(
float x1,
float x2,
float y1,
float y2,
float z1,
float z2);
349 TImageROI(
float x1,
float x2,
float y1,
float y2);
468 #define COPY_MEMBER(_m) this->_m = o._m; 469 #define CHECK_MEMBER(_m) this->_m == o._m 612 const bool& _useOriFilter,
const double& _oriThreshold,
613 const bool& _useDepthFilter,
const double& _th,
const double& _th2,
614 const unsigned int& _lwscl1,
const unsigned int& _lwscl2,
615 const unsigned int& _hwscl1,
const unsigned int& _hwscl2,
616 const int& _searchAreaSize,
const int& _lsth,
const int& _tsth,
617 const int& _minFeaturesToFind,
const int& _minFeaturesToBeLost)
703 const unsigned int& _basePSize,
const std::vector<double>& _scales,
704 const unsigned int& _comLScl,
const unsigned int& _comHScl,
705 const double& _sg1,
const double& _sg2,
const double& _sg3,
706 const bool& _computeDepth,
const bool _blurImage,
const double& _fx,
707 const double& _cx,
const double& _cy,
const double& _baseline,
708 const bool& _computeHashCoeffs,
const double& _cropValue)
724 scales.resize(_scales.size());
725 for (
unsigned int k = 0; k < _scales.size(); ++k)
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.
TMatchingOptions()
Intrinsic parameters of the stereo rig.
void loadFromTextFile(const std::string &filName)
Load from a text file, in the format described in saveToTextFile.
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()
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion) override
Load all the params from a config source, in the format described in saveToConfigFile() ...
mrpt::aligned_containers< TCameraPoseID, mrpt::poses::CPose3D >::map_t TFramePosesMap
A list of camera frames (6D poses) indexed by unique IDs.
uint32_t minFeaturesToFind
The minimum number of features allowed in the system.
void operator=(const TMatchingOptions &o)
double maxORB_dist
Maximun distance between ORB descriptors.
Used in some methods to mean "any of the present descriptors".
void saveToConfigFile(mrpt::utils::CConfigFileBase &cfg, const std::string §ion) const override
This method saves the options to a ".ini"-like file or memory-stored string list. ...
bool estimateDepth
Whether or not estimate the 3D position of the real features for the matches (only with parallelOptic...
LSD detector, OpenCV's implementation.
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...
TMultiResMatchingOutput()
mrpt::math::CMatrixDouble33 F
FASTER-9 detector, Edward Rosten's libcvd implementation optimized for SSE2.
Linear propagation of the uncertainty.
double SAD_RATIO
Boundary Ratio between the two highest SAD.
float min_disp
Disparity limits, see also 'useDisparityLimits'.
std::vector< TFeatureObservation > BASE
void dumpToTextStream(mrpt::utils::CStream &out) const override
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
Struct containing the output after matching multi-resolution SIFT-like descriptors.
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion) override
This method load the options from a ".ini"-like file or memory-stored string list.
#define MRPT_FILL_ENUM(_X)
For use in specializations of TEnumTypeFiller.
One feature observation entry, used within sequences with TSequenceFeatureObservations.
TSequenceFeatureObservations(const TSequenceFeatureObservations &o)
std::vector< int > secondListCorrespondences
Contains the indexes within the first list corresponding to the second one.
static void fill(bimap< enum_t, std::string > &m_map)
float epipolar_TH
Epipolar constraint (rows of pixels)
Only specializations of this class are defined for each enum type of interest.
uint32_t highScl1
The highest scales in the two features to be taken into account in the matching process.
void saveToConfigFile(mrpt::utils::CConfigFileBase &cfg, const std::string §ion) const override
This method saves the options to a ".ini"-like file or memory-stored string list. ...
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.
Matching by Hamming distance between ORB descriptors.
TFeatureObservation(const TLandmarkID _id_feature, const TCameraPoseID _id_frame, const mrpt::utils::TPixelCoordf &_px)
void dumpToTextStream(mrpt::utils::CStream &out) const override
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
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 approac...
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.
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &cfg, const std::string §ion) override
Load all the params from a config source, in the format described in saveToConfigFile() ...
bool computeHashCoeffs
Whether or not compute the coefficients for mantaining a HASH table of descriptors (for relocalizatio...
uint32_t comLScl
The subset of scales for which to compute the descriptors.
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
double sg1
The sigmas for the Gaussian kernels.
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.
mrpt::vision::TFeatureType enum_t
float maxY
Maximum allowed height.
A bidirectional version of std::map, declared as bimap<KEY,VALUE> and which actually contains two std...
TSequenceFeatureObservations(size_t size)
FASTER-9 detector, Edward Rosten's libcvd implementation optimized for SSE2.
Classes for computer vision, detectors, features, etc.
void dumpToTextStream(mrpt::utils::CStream &out) const override
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
Uncertainty propagation through the Unscented Transformation.
void saveToTextFile(const std::string &filName, bool skipFirstCommentLine=false) const
Saves all entries to a text file, with each line having this format: #FRAME_ID #FEAT_ID #PIXEL_X #PIX...
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.
FASTER-9 detector, Edward Rosten's libcvd implementation optimized for SSE2.
uint64_t TFeatureID
Definition of a feature ID.
bool saveAsSBAFiles(const TLandmarkLocationsVec &pts, const std::string &pts_file, const TFramePosesVec &cams, const std::string &cams_file) const
Save the list of observations + the point locations + the camera frame poses to a pair of files in th...
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.
void loadFromConfigFile(const mrpt::utils::CConfigFileBase &source, const std::string §ion) override
This method load the options from a ".ini"-like file or memory-stored string list.
TDescriptorType
The bitwise OR combination of values of TDescriptorType are used in CFeatureExtraction::computeDescri...
TStereoSystemParams()
Initilization of default parameters.
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...
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.
uint32_t lowScl1
The lowest scales in the two features to be taken into account in the matching process.
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.
Matching by cross correlation of the image patches.
bool hasFundamentalMatrix
Whether or not there is a fundamental matrix.
static void fill(bimap< enum_t, std::string > &m_map)
GLsizei GLsizei GLchar * source
size_t removeFewObservedFeatures(size_t minNumObservations=3)
Remove all those features that don't have a minimum number of observations from different camera fram...
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< TYPE1, TYPE2, std::less< TYPE1 >, Eigen::aligned_allocator< std::pair< const TYPE1, TYPE2 > > > map_t
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)
AKAZE detector, OpenCV's implementation.
A especial case: this is not an image feature, but a 2D/3D beacon (used for range-only SLAM from mrpt...
std::map< TLandmarkID, mrpt::math::TPoint3D > TLandmarkLocationsMap
A list of landmarks (3D points) indexed by unique IDs.
bool operator==(const TMatchingOptions &o) const
ORB detector and descriptor, OpenCV's implementation ("ORB: an efficient alternative to SIFT o...
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.
bool useOriFilter
Whether or not use the filter based on orientation test.
unsigned __int32 uint32_t
mrpt::vision::TDescriptorType enum_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 fx
Intrinsic stereo pair parameters for computing the depth of the feature.
double matchingRatioThreshold
The ratio between the two lowest distances threshold for considering a match.
void compressIDs(std::map< TCameraPoseID, TCameraPoseID > *old2new_camIDs=nullptr, std::map< TLandmarkID, TLandmarkID > *old2new_lmIDs=nullptr)
Rearrange frame and feature IDs such as they start at 0 and there are no gaps.
This is a virtual base class for sets of options than can be loaded from and/or saved to configuratio...
Uncertainty propagation through the Scaled Unscented Transformation.
void decimateCameraFrames(const size_t decimate_ratio)
Remove all but one out of decimate_ratio camera frame IDs from the list (eg: from N camera pose IDs a...
float stdDisp
Standard deviation of the error in disparity computation.
void dumpToTextStream(mrpt::utils::CStream &out) const override
This method should clearly display all the contents of the structure in textual form, sending it to a CStream.
mrpt::math::CMatrixDouble33 K
Intrinsic parameters.