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) noexcept

void	operator delete[] (void *ptr) noexcept

void	operator delete (void memory, void ptr) noexcept

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

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

bool	isPointFeature () const
	a HASH table of descriptors 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...

TFeatureType	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

	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...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	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...

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::img::CImage	patch
	A patch of the image surrounding the feature. More...

uint16_t	patchSize
	Size of the patch (patchSize x patchSize) (it must. More...

TFeatureType	type
	be an odd number) More...

TFeatureTrackStatus	track_status
	featKLT, featHarris, featSURF, featBeacon More...

float	response
	process (old name: KLT_status) More...

float	orientation
	KLT_val) More...

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

uint8_t	user_flags
	A field for any other flags needed by the user. More...

uint16_t	nTimesSeen
	(this has not a predefined meaning) More...

uint16_t	nTimesNotSeen
	of images. More...

uint16_t	nTimesLastSeen
	sequence of images. More...

float	x2 [2]
	last time. More...

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...

std::deque< double >	multiScales
	A set of scales where the. More...

std::deque< std::vector< double > >	multiOrientations
	multi-resolution descriptor has been computed More...

std::deque< std::vector< std::vector< int32_t > > >	multiHashCoeffs
	orientations (there is a vector of orientations for each scale) More...

struct mrpt::vision::CFeature::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...

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
using	Ptr = std::shared_ptr< CFeature >

using	ConstPtr = std::shared_ptr< const CFeature >

using	UniquePtr = std::unique_ptr< CFeature >

using	ConstUniquePtr = std::unique_ptr< const CFeature >

static mrpt::rtti::CLASSINIT	_init_CFeature

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CFeature"

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

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

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

template<typename... Args>
static Ptr	Create (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...

Member Typedef Documentation

◆ ConstPtr

using mrpt::vision::CFeature::ConstPtr = std::shared_ptr<const CFeature >

Definition at line 58 of file CFeature.h.

◆ ConstUniquePtr

using mrpt::vision::CFeature::ConstUniquePtr = std::unique_ptr<const CFeature >

Definition at line 58 of file CFeature.h.

◆ Ptr

using mrpt::vision::CFeature::Ptr = std::shared_ptr< CFeature >

A type for the associated smart pointer

Definition at line 58 of file CFeature.h.

◆ UniquePtr

using mrpt::vision::CFeature::UniquePtr = std::unique_ptr< CFeature >

Definition at line 58 of file CFeature.h.

Constructor & Destructor Documentation

◆ CFeature()

CFeature::CFeature ( )

Constructor.

Definition at line 456 of file CFeature.cpp.

◆ ~CFeature()

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

inlinevirtual

Virtual destructor.

Definition at line 287 of file CFeature.h.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ clone()

virtual mrpt::rtti::CObject* mrpt::vision::CFeature::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::vision::CFeature::Create ( Args &&... args )

inlinestatic

Definition at line 58 of file CFeature.h.

◆ CreateObject()

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

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::vision::CFeature::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 58 of file CFeature.h.

◆ descriptorBLDDistanceTo()

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

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

Definition at line 875 of file CFeature.cpp.

References ASSERT_, mrpt::vision::CFeature::TDescriptors::BLD, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorBLD(), and mrpt::square().

Referenced by descriptorDistanceTo().

◆ 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 523 of file CFeature.cpp.

References mrpt::vision::descAny, mrpt::vision::descBLD, mrpt::vision::descLATCH, mrpt::vision::descLogPolarImages, mrpt::vision::descORB, mrpt::vision::descPolarImages, descriptorBLDDistanceTo(), descriptorLATCHDistanceTo(), descriptorLogPolarImgDistanceTo(), descriptorORBDistanceTo(), descriptorPolarImgDistanceTo(), descriptors, descriptorSIFTDistanceTo(), descriptorSpinImgDistanceTo(), descriptorSURFDistanceTo(), mrpt::vision::descSIFT, mrpt::vision::descSpinImages, mrpt::vision::descSURF, mrpt::vision::CFeature::TDescriptors::hasDescriptorBLD(), mrpt::vision::CFeature::TDescriptors::hasDescriptorLATCH(), 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.

◆ descriptorLATCHDistanceTo()

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

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

Definition at line 900 of file CFeature.cpp.

References ASSERT_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorLATCH(), mrpt::vision::CFeature::TDescriptors::LATCH, and mrpt::square().

Referenced by descriptorDistanceTo().

◆ 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 816 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 846 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 790 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 593 of file CFeature.cpp.

References ASSERT_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorSIFT(), mrpt::vision::CFeature::TDescriptors::SIFT, and mrpt::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 645 of file CFeature.cpp.

References ASSERT_, descriptors, mrpt::vision::CFeature::TDescriptors::hasDescriptorSpinImg(), mrpt::vision::CFeature::TDescriptors::SpinImg, and mrpt::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 618 of file CFeature.cpp.

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

Referenced by descriptorDistanceTo().

◆ dumpToConsole()

void CFeature::dumpToConsole ( ) const

Definition at line 399 of file CFeature.cpp.

◆ dumpToTextStream()

void CFeature::dumpToTextStream ( std::ostream & out ) const

Dump feature information into a text stream.

Definition at line 257 of file CFeature.cpp.

References mrpt::format().

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr 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 168 of file CObject.h.

References mrpt::rtti::CObject::clone().

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

◆ get_type()

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

inline

Get the type of the feature.

Definition at line 276 of file CFeature.h.

References type.

Referenced by saveToTextFile().

◆ getClassName()

static constexpr auto mrpt::vision::CFeature::getClassName ( )

inlinestatic

Definition at line 58 of file CFeature.h.

◆ 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 1449 of file CFeature.cpp.

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::serialization::CSerializable.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::vision::CFeature::GetRuntimeClassIdStatic ( )

static

◆ 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 672 of file CFeature.cpp.

References M_2PI, mrpt::math::meanAndStd(), MRPT_END, MRPT_START, mrpt::square(), and win.

Referenced by descriptorLogPolarImgDistanceTo(), and descriptorPolarImgDistanceTo().

◆ isPointFeature()

bool CFeature::isPointFeature ( ) const

a HASH table of descriptors

Return false only for Blob detectors (SIFT, SURF)

Definition at line 496 of file CFeature.cpp.

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

◆ operator delete() [1/3]

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

inlinenoexcept

Definition at line 58 of file CFeature.h.

◆ operator delete() [2/3]

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

inlinenoexcept

Definition at line 58 of file CFeature.h.

◆ operator delete() [3/3]

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

inlinenoexcept

Definition at line 58 of file CFeature.h.

◆ operator delete[]()

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

inlinenoexcept

Definition at line 58 of file CFeature.h.

◆ operator new() [1/3]

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

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,
		const std::nothrow_t &
	)

inlinenoexcept

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 504 of file CFeature.cpp.

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

◆ 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 926 of file CFeature.cpp.

◆ serializeFrom()

void CFeature::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

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 I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 417 of file CFeature.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION.

◆ serializeGetVersion()

uint8_t CFeature::serializeGetVersion ( ) const

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 400 of file CFeature.cpp.

◆ serializeTo()

void CFeature::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 401 of file CFeature.cpp.

◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 nullptr is class does not support conversion to MATLAB.

Definition at line 68 of file CSerializable.h.

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::rtti::CLASSINIT mrpt::vision::CFeature::_init_CFeature

staticprotected

Definition at line 58 of file CFeature.h.

◆ className

constexpr const char* mrpt::vision::CFeature::className = "CFeature"

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.

Definition at line 86 of file CFeature.h.

◆ descriptors

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

Referenced by descriptorBLDDistanceTo(), descriptorDistanceTo(), descriptorLATCHDistanceTo(), descriptorLogPolarImgDistanceTo(), descriptorORBDistanceTo(), descriptorPolarImgDistanceTo(), descriptorSIFTDistanceTo(), descriptorSpinImgDistanceTo(), descriptorSURFDistanceTo(), getFirstDescriptorAsMatrix(), 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(), and saveToTextFile().

◆ initialDepth

double mrpt::vision::CFeature::initialDepth

in the current frame

The estimated depth in 3D of this feature wrt the

Definition at line 88 of file CFeature.h.

◆ multiHashCoeffs

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

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

A set of vectors containing the coefficients for

Definition at line 101 of file CFeature.h.

◆ multiOrientations

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

multi-resolution descriptor has been computed

A vector of main

Definition at line 95 of file CFeature.h.

Referenced by saveToTextFile().

◆ multiScales

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

A set of scales where the.

Definition at line 92 of file CFeature.h.

Referenced by saveToTextFile().

◆ nTimesLastSeen

uint16_t mrpt::vision::CFeature::nTimesLastSeen

sequence of images.

Number of frames since it was seen for the

Definition at line 80 of file CFeature.h.

◆ nTimesNotSeen

uint16_t mrpt::vision::CFeature::nTimesNotSeen

of images.

Number of frames it has not been seen in a

Definition at line 78 of file CFeature.h.

◆ nTimesSeen

uint16_t mrpt::vision::CFeature::nTimesSeen

(this has not a predefined meaning)

Number of frames it has been seen in a sequence

Definition at line 76 of file CFeature.h.

◆ orientation

float mrpt::vision::CFeature::orientation

KLT_val)

Main orientation of the feature

Definition at line 72 of file CFeature.h.

Referenced by saveToTextFile().

◆ p3D

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 91 of file CFeature.h.

◆ patch

mrpt::img::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.

Definition at line 64 of file CFeature.h.

◆ response

float mrpt::vision::CFeature::response

process (old name: KLT_status)

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

Definition at line 70 of file CFeature.h.

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

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::vision::CFeature::runtimeClassId

staticprotected

Definition at line 58 of file CFeature.h.

◆ scale

float mrpt::vision::CFeature::scale

Feature scale into the scale space.

Definition at line 73 of file CFeature.h.

◆ track_status

TFeatureTrackStatus mrpt::vision::CFeature::track_status

featKLT, featHarris, featSURF, featBeacon

Status of the feature tracking

Definition at line 68 of file CFeature.h.

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

◆ type

TFeatureType mrpt::vision::CFeature::type

be an odd number)

Type of the feature: featNotDefined, featSIFT,

Definition at line 66 of file CFeature.h.

Referenced by get_type().

◆ user_flags

uint8_t mrpt::vision::CFeature::user_flags

A field for any other flags needed by the user.

Definition at line 74 of file CFeature.h.

◆ x

float mrpt::vision::CFeature::x

Definition at line 61 of file CFeature.h.

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

◆ x2

float mrpt::vision::CFeature::x2[2]

last time.

Definition at line 84 of file CFeature.h.

◆ y

float mrpt::vision::CFeature::y

Coordinates in the image.

Definition at line 61 of file CFeature.h.

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

◆ y2

float mrpt::vision::CFeature::y2[2]

Coordinates for a LSD Detector to represent a line.

Definition at line 84 of file CFeature.h.

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Public Attributes

Protected Member Functions

Static Protected Member Functions

Friends

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CFeature()

◆ ~CFeature()

Member Function Documentation

◆ _GetBaseClass()

◆ clone()

◆ Create()

◆ CreateObject()

◆ CreateUnique()

◆ descriptorBLDDistanceTo()

◆ descriptorDistanceTo()

◆ descriptorLATCHDistanceTo()

◆ descriptorLogPolarImgDistanceTo()

◆ descriptorORBDistanceTo()

◆ descriptorPolarImgDistanceTo()

◆ descriptorSIFTDistanceTo()

◆ descriptorSpinImgDistanceTo()

◆ descriptorSURFDistanceTo()

◆ dumpToConsole()

◆ dumpToTextStream()

◆ duplicateGetSmartPtr()

◆ get_type()

◆ getClassName()

◆ getFirstDescriptorAsMatrix()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ 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()

◆ saveToTextFile()

◆ serializeFrom()

◆ serializeGetVersion()

◆ serializeTo()

◆ writeToMatlab()

Friends And Related Function Documentation

◆ CFeatureList

◆ CMatchedFeatureList

Member Data Documentation

◆ _init_CFeature

◆ className

◆ depth

◆ descriptors

◆ ID

◆ initialDepth

◆ multiHashCoeffs

◆ multiOrientations

◆ multiScales

◆ nTimesLastSeen

◆ nTimesNotSeen

◆ nTimesSeen

◆ orientation

◆ p3D

◆ patch

◆ patchSize

◆ response

◆ runtimeClassId

◆ scale

◆ track_status