Detailed Description

A list of visual features, to be used as output by detectors, as input/output by trackers, etc.

Definition at line 304 of file CFeature.h.

#include <mrpt/vision/CFeature.h>

Inheritance diagram for mrpt::vision::CFeatureList:

Public Types
using	self_t = KDTreeCapable< CFeatureList, float, nanoflann::L2_Simple_Adaptor< float, CFeatureList > >

Public Member Functions
TFeatureType	get_type () const
	The type of the first feature in the list. More...

void	saveToTextFile (const std::string &fileName, bool APPEND=false)
	Save feature list to a text file. More...

void	loadFromTextFile (const std::string &fileName)
	Save feature list to a text file. More...

void	copyListFrom (const CFeatureList &otherList)
	Copies the content of another CFeatureList inside this one. More...

TFeatureID	getMaxID () const
	Get the maximum ID into the list. More...

CFeature::Ptr	getByID (const TFeatureID &ID) const
	Get a reference to a Feature from its ID. More...

CFeature::Ptr	getByID (const TFeatureID &ID, int &out_idx) const

void	getByMultiIDs (const std::vector< TFeatureID > &IDs, std::vector< CFeature::Ptr > &out, std::vector< int > &outIndex) const
	Get a vector of references to a subset of features from their IDs. More...

CFeature::Ptr	nearest (const float x, const float y, double &max_dist) const
	Get a reference to the nearest feature to the a given 2D point (version returning distance to closest feature in "max_dist") More...

	CFeatureList ()
	Constructor. More...

virtual	~CFeatureList ()
	Virtual destructor. More...

void	mark_kdtree_as_outdated () const
	Call this when the list of features has been modified so the KD-tree is marked as outdated. More...

const CFeatureList &	derived () const
	CRTP helper method. More...

CFeatureList &	derived ()
	CRTP helper method. More...

Methods that MUST be implemented by children classes of
KDTreeCapable
size_t	kdtree_get_point_count () const
	Must return the number of data points. More...

float	kdtree_get_pt (const size_t idx, int dim) const
	Returns the dim'th component of the idx'th point in the class: More...

float	kdtree_distance (const float *p1, const size_t idx_p2, size_t size) const
	Returns the distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class: More...

template<typename BBOX >
bool	kdtree_get_bbox (BBOX &bb) const

getFeature*() methods for template-based access to feature list
float	getFeatureX (size_t i) const

float	getFeatureY (size_t i) const

TFeatureID	getFeatureID (size_t i) const

float	getFeatureResponse (size_t i) const

bool	isPointFeature (size_t i) const

float	getScale (size_t i) const

TFeatureTrackStatus	getTrackStatus (size_t i)

void	setFeatureX (size_t i, float x)

void	setFeatureXf (size_t i, float x)

void	setFeatureY (size_t i, float y)

void	setFeatureYf (size_t i, float y)

void	setFeatureID (size_t i, TFeatureID id)

void	setFeatureResponse (size_t i, float r)

void	setScale (size_t i, float s)

void	setTrackStatus (size_t i, TFeatureTrackStatus s)

void	mark_as_outdated () const

Public utility methods to query the KD-tree
size_t	kdTreeClosestPoint2D (float x0, float y0, float &out_x, float &out_y, float &out_dist_sqr) const
	KD Tree-based search for the closest point (only ONE) to some given 2D coordinates. More...

size_t	kdTreeClosestPoint2D (float x0, float y0, float &out_dist_sqr) const

size_t	kdTreeClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut, float &outDistSqr) const

float	kdTreeClosestPoint2DsqrError (float x0, float y0) const
	Like kdTreeClosestPoint2D, but just return the square error from some point to its closest neighbor. More...

float	kdTreeClosestPoint2DsqrError (const TPoint2D &p0) const

void	kdTreeTwoClosestPoint2D (float x0, float y0, float &out_x1, float &out_y1, float &out_x2, float &out_y2, float &out_dist_sqr1, float &out_dist_sqr2) const
	KD Tree-based search for the TWO closest point to some given 2D coordinates. More...

void	kdTreeTwoClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut1, TPoint2D &pOut2, float &outDistSqr1, float &outDistSqr2) const

std::vector< size_t >	kdTreeNClosestPoint2D (float x0, float y0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 2D coordinates. More...

std::vector< size_t >	kdTreeNClosestPoint2D (const TPoint2D &p0, size_t N, std::vector< TPoint2D > &pOut, std::vector< float > &outDistSqr) const

void	kdTreeNClosestPoint2DIdx (float x0, float y0, size_t knn, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 2D coordinates and returns their indexes. More...

void	kdTreeNClosestPoint2DIdx (const TPoint2D &p0, size_t N, std::vector< size_t > &outIdx, std::vector< float > &outDistSqr) const

size_t	kdTreeClosestPoint3D (float x0, float y0, float z0, float &out_x, float &out_y, float &out_z, float &out_dist_sqr) const
	KD Tree-based search for the closest point (only ONE) to some given 3D coordinates. More...

size_t	kdTreeClosestPoint3D (float x0, float y0, float z0, float &out_dist_sqr) const

size_t	kdTreeClosestPoint3D (const TPoint3D &p0, TPoint3D &pOut, float &outDistSqr) const

void	kdTreeNClosestPoint3D (float x0, float y0, float z0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_z, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest points to some given 3D coordinates. More...

void	kdTreeNClosestPoint3D (const TPoint3D &p0, size_t N, std::vector< TPoint3D > &pOut, std::vector< float > &outDistSqr) const

void	kdTreeNClosestPoint3DWithIdx (float x0, float y0, float z0, size_t knn, std::vector< float > &out_x, std::vector< float > &out_y, std::vector< float > &out_z, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest points to some given 3D coordinates. More...

size_t	kdTreeRadiusSearch3D (const float x0, const float y0, const float z0, const float maxRadiusSqr, std::vector< std::pair< size_t, float >> &out_indices_dist) const
	KD Tree-based search for all the points within a given radius of some 3D point. More...

size_t	kdTreeRadiusSearch2D (const float x0, const float y0, const float maxRadiusSqr, std::vector< std::pair< size_t, float >> &out_indices_dist) const
	KD Tree-based search for all the points within a given radius of some 2D point. More...

void	kdTreeNClosestPoint3DIdx (float x0, float y0, float z0, size_t knn, std::vector< size_t > &out_idx, std::vector< float > &out_dist_sqr) const
	KD Tree-based search for the N closest point to some given 3D coordinates and returns their indexes. More...

void	kdTreeNClosestPoint3DIdx (const TPoint3D &p0, size_t N, std::vector< size_t > &outIdx, std::vector< float > &outDistSqr) const

Public Attributes
TKDTreeSearchParams	kdtree_search_params
	Parameters to tune the ANN searches. More...

Protected Types
using	TInternalFeatList = std::vector< CFeature::Ptr >

Protected Member Functions
void	kdtree_mark_as_outdated () const
	To be called by child classes when KD tree data changes. More...

Protected Attributes
TInternalFeatList	m_feats
	The actual container with the list of features. More...

Method and datatypes to emulate a STL container
using	iterator = TInternalFeatList::iterator

using	const_iterator = TInternalFeatList::const_iterator

using	reverse_iterator = TInternalFeatList::reverse_iterator

using	const_reverse_iterator = TInternalFeatList::const_reverse_iterator

iterator	begin ()

iterator	end ()

const_iterator	begin () const

const_iterator	end () const

reverse_iterator	rbegin ()

reverse_iterator	rend ()

const_reverse_iterator	rbegin () const

const_reverse_iterator	rend () const

iterator	erase (const iterator &it)

bool	empty () const

size_t	size () const

void	clear ()

void	resize (size_t N)

void	push_back (const CFeature::Ptr &f)

CFeature::Ptr &	operator[] (const unsigned int index)

const CFeature::Ptr &	operator[] (const unsigned int index) const

Member Typedef Documentation

◆ const_iterator

using mrpt::vision::CFeatureList::const_iterator = TInternalFeatList::const_iterator

Definition at line 366 of file CFeature.h.

◆ const_reverse_iterator

using mrpt::vision::CFeatureList::const_reverse_iterator = TInternalFeatList::const_reverse_iterator

Definition at line 369 of file CFeature.h.

◆ iterator

using mrpt::vision::CFeatureList::iterator = TInternalFeatList::iterator

Definition at line 365 of file CFeature.h.

◆ reverse_iterator

using mrpt::vision::CFeatureList::reverse_iterator = TInternalFeatList::reverse_iterator

Definition at line 368 of file CFeature.h.

◆ self_t

using mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::self_t = KDTreeCapable<CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >

inherited

Definition at line 81 of file KDTreeCapable.h.

◆ TInternalFeatList

using mrpt::vision::CFeatureList::TInternalFeatList = std::vector<CFeature::Ptr>

protected

Definition at line 307 of file CFeature.h.

Constructor & Destructor Documentation

◆ CFeatureList()

CFeatureList::CFeatureList ( )

Constructor.

Definition at line 1029 of file CFeature.cpp.

◆ ~CFeatureList()

CFeatureList::~CFeatureList ( )

virtual

Virtual destructor.

Definition at line 1033 of file CFeature.cpp.

Member Function Documentation

◆ begin() [1/2]

iterator mrpt::vision::CFeatureList::begin ( )

inline

Definition at line 371 of file CFeature.h.

References m_feats.

◆ begin() [2/2]

const_iterator mrpt::vision::CFeatureList::begin ( ) const

inline

Definition at line 373 of file CFeature.h.

References m_feats.

◆ clear()

void mrpt::vision::CFeatureList::clear ( )

inline

Definition at line 387 of file CFeature.h.

References m_feats, and mark_kdtree_as_outdated().

◆ copyListFrom()

void CFeatureList::copyListFrom ( const CFeatureList & otherList )

Copies the content of another CFeatureList inside this one.

The inner features are also copied.

Definition at line 1239 of file CFeature.cpp.

References begin(), begin(), end(), and size().

◆ derived() [1/2]

const CFeatureList & mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::derived ( ) const

inlineinherited

CRTP helper method.

Definition at line 87 of file KDTreeCapable.h.

◆ derived() [2/2]

CFeatureList & mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::derived ( )

inlineinherited

CRTP helper method.

Definition at line 92 of file KDTreeCapable.h.

◆ empty()

bool mrpt::vision::CFeatureList::empty ( ) const

inline

Definition at line 385 of file CFeature.h.

References m_feats.

Referenced by get_type(), mrpt::vision::CFeatureExtraction::internal_computeBLDLineDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeLATCHDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeSurfDescriptors(), mrpt::vision::TSIFTDescriptorsKDTreeIndex< distance_t, metric_t >::TSIFTDescriptorsKDTreeIndex(), and mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >::TSURFDescriptorsKDTreeIndex().

◆ end() [1/2]

iterator mrpt::vision::CFeatureList::end ( )

inline

Definition at line 372 of file CFeature.h.

References m_feats.

◆ end() [2/2]

const_iterator mrpt::vision::CFeatureList::end ( ) const

inline

Definition at line 374 of file CFeature.h.

References m_feats.

◆ erase()

iterator mrpt::vision::CFeatureList::erase ( const iterator & it )

inline

Definition at line 379 of file CFeature.h.

References m_feats, and mark_kdtree_as_outdated().

Referenced by mrpt::vision::checkTrackedFeatures(), mrpt::vision::deleteRepeatedFeats(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::rowChecking(), and mrpt::vision::detail::trackFeatures_deleteOOB().

◆ get_type()

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

inline

The type of the first feature in the list.

Definition at line 314 of file CFeature.h.

References begin(), empty(), and mrpt::vision::featNotDefined.

Referenced by mrpt::vision::matchFeatures().

◆ getByID() [1/2]

CFeature::Ptr CFeatureList::getByID ( const TFeatureID & ID ) const

Get a reference to a Feature from its ID.

Definition at line 1255 of file CFeature.cpp.

References begin(), and mrpt::vision::CFeature::ID.

Referenced by mrpt::vision::relocalizeMultiDesc().

◆ getByID() [2/2]

CFeature::Ptr CFeatureList::getByID	(	const TFeatureID &	ID,
		int &	out_idx
	)		const

Definition at line 1266 of file CFeature.cpp.

References begin(), and mrpt::vision::CFeature::ID.

◆ getByMultiIDs()

void CFeatureList::getByMultiIDs	(	const std::vector< TFeatureID > &	IDs,
		std::vector< CFeature::Ptr > &	out,
		std::vector< int > &	outIndex
	)		const

Get a vector of references to a subset of features from their IDs.

Definition at line 1282 of file CFeature.cpp.

◆ getFeatureID()

TFeatureID mrpt::vision::CFeatureList::getFeatureID ( size_t i ) const

inline

Definition at line 463 of file CFeature.h.

References m_feats.

◆ getFeatureResponse()

float mrpt::vision::CFeatureList::getFeatureResponse ( size_t i ) const

inline

Definition at line 464 of file CFeature.h.

References m_feats.

◆ getFeatureX()

float mrpt::vision::CFeatureList::getFeatureX ( size_t i ) const

inline

Definition at line 461 of file CFeature.h.

References m_feats.

◆ getFeatureY()

float mrpt::vision::CFeatureList::getFeatureY ( size_t i ) const

inline

Definition at line 462 of file CFeature.h.

References m_feats.

◆ getMaxID()

TFeatureID CFeatureList::getMaxID ( ) const

Get the maximum ID into the list.

Definition at line 1328 of file CFeature.cpp.

References ASSERT_, begin(), empty(), mrpt::vision::CFeature::ID, mrpt::keep_max(), MRPT_END, and MRPT_START.

◆ getScale()

float mrpt::vision::CFeatureList::getScale ( size_t i ) const

inline

Definition at line 472 of file CFeature.h.

References m_feats.

◆ getTrackStatus()

TFeatureTrackStatus mrpt::vision::CFeatureList::getTrackStatus ( size_t i )

inline

Definition at line 473 of file CFeature.h.

References m_feats.

◆ isPointFeature()

bool mrpt::vision::CFeatureList::isPointFeature ( size_t i ) const

inline

Definition at line 468 of file CFeature.h.

References m_feats.

◆ kdtree_distance()

float mrpt::vision::CFeatureList::kdtree_distance	(	const float *	p1,
		const size_t	idx_p2,
		size_t	size
	)		const

inline

Returns the distance between the vector "p1[0:size-1]" and the data point with index "idx_p2" stored in the class:

Definition at line 433 of file CFeature.h.

References ASSERTDEB_, m_feats, and MRPT_UNUSED_PARAM.

◆ kdtree_get_bbox()

template<typename BBOX >

bool mrpt::vision::CFeatureList::kdtree_get_bbox ( BBOX & bb ) const

inline

Definition at line 451 of file CFeature.h.

References MRPT_UNUSED_PARAM.

◆ kdtree_get_point_count()

size_t mrpt::vision::CFeatureList::kdtree_get_point_count ( ) const

inline

Must return the number of data points.

Definition at line 420 of file CFeature.h.

References size().

◆ kdtree_get_pt()

float mrpt::vision::CFeatureList::kdtree_get_pt	(	const size_t	idx,
		int	dim
	)		const

inline

Returns the dim'th component of the idx'th point in the class:

Definition at line 422 of file CFeature.h.

References ASSERTDEB_, and m_feats.

◆ kdtree_mark_as_outdated()

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdtree_mark_as_outdated ( ) const

inlineprotectedinherited

To be called by child classes when KD tree data changes.

Definition at line 730 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree_is_uptodate.

Referenced by mark_as_outdated(), and mark_kdtree_as_outdated().

◆ kdTreeClosestPoint2D() [1/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint2D	(	float	x0,
		float	y0,
		float &	out_x,
		float &	out_y,
		float &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the closest point (only ONE) to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
out_x	The X coordinate of the found closest correspondence.
out_y	The Y coordinate of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

Returns: The index of the closest point in the map array.

See also: kdTreeClosestPoint3D, kdTreeTwoClosestPoint2D

Definition at line 123 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::derived(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree2d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::query_point, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_2D(), and THROW_EXCEPTION.

◆ kdTreeClosestPoint2D() [2/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint2D	(	float	x0,
		float	y0,
		float &	out_dist_sqr
	)		const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 152 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree2d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::query_point, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_2D(), and THROW_EXCEPTION.

◆ kdTreeClosestPoint2D() [3/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint2D	(	const TPoint2D &	p0,
		TPoint2D &	pOut,
		float &	outDistSqr
	)		const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 176 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeClosestPoint2D(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

◆ kdTreeClosestPoint2DsqrError() [1/2]

float mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint2DsqrError	(	float	x0,
		float	y0
	)		const

inlineinherited

Like kdTreeClosestPoint2D, but just return the square error from some point to its closest neighbor.

Definition at line 191 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeClosestPoint2D().

◆ kdTreeClosestPoint2DsqrError() [2/2]

float mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint2DsqrError ( const TPoint2D & p0 ) const

inlineinherited

Definition at line 198 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeClosestPoint2DsqrError(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

◆ kdTreeClosestPoint3D() [1/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint3D	(	float	x0,
		float	y0,
		float	z0,
		float &	out_x,
		float &	out_y,
		float &	out_z,
		float &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the closest point (only ONE) to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
out_x	The X coordinate of the found closest correspondence.
out_y	The Y coordinate of the found closest correspondence.
out_z	The Z coordinate of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

Returns: The index of the closest point in the map array.

See also: kdTreeClosestPoint2D

Definition at line 406 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::derived(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree3d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::query_point, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_3D(), and THROW_EXCEPTION.

◆ kdTreeClosestPoint3D() [2/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint3D	(	float	x0,
		float	y0,
		float	z0,
		float &	out_dist_sqr
	)		const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 437 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree3d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::query_point, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_3D(), and THROW_EXCEPTION.

◆ kdTreeClosestPoint3D() [3/3]

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeClosestPoint3D	(	const TPoint3D &	p0,
		TPoint3D &	pOut,
		float &	outDistSqr
	)		const

inlineinherited

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Definition at line 462 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeClosestPoint3D(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ kdTreeNClosestPoint2D() [1/2]

std::vector<size_t> mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint2D	(	float	x0,
		float	y0,
		size_t	knn,
		std::vector< float > &	out_x,
		std::vector< float > &	out_y,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest point to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

Returns: The list of indices

See also: kdTreeClosestPoint2D; kdTreeTwoClosestPoint2D

Definition at line 291 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::derived(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree2d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::query_point, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_2D(), and THROW_EXCEPTION.

◆ kdTreeNClosestPoint2D() [2/2]

std::vector<size_t> mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint2D	(	const TPoint2D &	p0,
		size_t	N,
		std::vector< TPoint2D > &	pOut,
		std::vector< float > &	outDistSqr
	)		const

inlineinherited

Definition at line 323 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeNClosestPoint2D(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

◆ kdTreeNClosestPoint2DIdx() [1/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint2DIdx	(	float	x0,
		float	y0,
		size_t	knn,
		std::vector< size_t > &	out_idx,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest point to some given 2D coordinates and returns their indexes.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
N	The number of closest points to search.
out_idx	The indexes of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

See also: kdTreeClosestPoint2D

Definition at line 356 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree2d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::query_point, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_2D(), and THROW_EXCEPTION.

◆ kdTreeNClosestPoint2DIdx() [2/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint2DIdx	(	const TPoint2D &	p0,
		size_t	N,
		std::vector< size_t > &	outIdx,
		std::vector< float > &	outDistSqr
	)		const

inlineinherited

Definition at line 378 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeNClosestPoint2DIdx(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

◆ kdTreeNClosestPoint3D() [1/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint3D	(	float	x0,
		float	y0,
		float	z0,
		size_t	knn,
		std::vector< float > &	out_x,
		std::vector< float > &	out_y,
		std::vector< float > &	out_z,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest points to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_z	The vector containing the Z coordinates of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

See also: kdTreeNClosestPoint2D

Definition at line 497 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::derived(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree3d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::query_point, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_3D(), and THROW_EXCEPTION.

◆ kdTreeNClosestPoint3D() [2/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint3D	(	const TPoint3D &	p0,
		size_t	N,
		std::vector< TPoint3D > &	pOut,
		std::vector< float > &	outDistSqr
	)		const

inlineinherited

Definition at line 590 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeNClosestPoint3D(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ kdTreeNClosestPoint3DIdx() [1/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint3DIdx	(	float	x0,
		float	y0,
		float	z0,
		size_t	knn,
		std::vector< size_t > &	out_idx,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest point to some given 3D coordinates and returns their indexes.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_idx	The indexes of the found closest correspondence.
out_dist_sqr	The square distance between the query and the returned point.

See also: kdTreeClosestPoint2D, kdTreeRadiusSearch3D

Definition at line 694 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree3d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::query_point, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_3D(), and THROW_EXCEPTION.

◆ kdTreeNClosestPoint3DIdx() [2/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint3DIdx	(	const TPoint3D &	p0,
		size_t	N,
		std::vector< size_t > &	outIdx,
		std::vector< float > &	outDistSqr
	)		const

inlineinherited

Definition at line 717 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeNClosestPoint3DIdx(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ kdTreeNClosestPoint3DWithIdx()

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeNClosestPoint3DWithIdx	(	float	x0,
		float	y0,
		float	z0,
		size_t	knn,
		std::vector< float > &	out_x,
		std::vector< float > &	out_y,
		std::vector< float > &	out_z,
		std::vector< size_t > &	out_idx,
		std::vector< float > &	out_dist_sqr
	)		const

inlineinherited

KD Tree-based search for the N closest points to some given 3D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
N	The number of closest points to search.
out_x	The vector containing the X coordinates of the correspondences.
out_y	The vector containing the Y coordinates of the correspondences.
out_z	The vector containing the Z coordinates of the correspondences.
out_idx	The vector containing the indexes of the correspondences.
out_dist_sqr	The vector containing the square distance between the query and the returned points.

See also: kdTreeNClosestPoint2D

Definition at line 555 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::derived(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree3d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::query_point, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_3D(), and THROW_EXCEPTION.

◆ kdTreeRadiusSearch2D()

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeRadiusSearch2D	(	const float	x0,
		const float	y0,
		const float	maxRadiusSqr,
		std::vector< std::pair< size_t, float >> &	out_indices_dist
	)		const

inlineinherited

KD Tree-based search for all the points within a given radius of some 2D point.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
maxRadiusSqr	The square of the desired search radius.
out_indices_dist	The output list, with pairs of indeces/squared distances for the found correspondences.

Returns: Number of found points.

See also: kdTreeRadiusSearch3D, kdTreeNClosestPoint2DIdx

Definition at line 659 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree2d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, and mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_2D().

◆ kdTreeRadiusSearch3D()

size_t mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeRadiusSearch3D	(	const float	x0,
		const float	y0,
		const float	z0,
		const float	maxRadiusSqr,
		std::vector< std::pair< size_t, float >> &	out_indices_dist
	)		const

inlineinherited

KD Tree-based search for all the points within a given radius of some 3D point.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 2D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
z0	The Z coordinate of the query.
maxRadiusSqr	The square of the desired search radius.
out_indices_dist	The output list, with pairs of indeces/squared distances for the found correspondences.

Returns: Number of found points.

See also: kdTreeRadiusSearch2D, kdTreeNClosestPoint3DIdx

Definition at line 624 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree3d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, and mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_3D().

◆ kdTreeTwoClosestPoint2D() [1/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeTwoClosestPoint2D	(	float	x0,
		float	y0,
		float &	out_x1,
		float &	out_y1,
		float &	out_x2,
		float &	out_y2,
		float &	out_dist_sqr1,
		float &	out_dist_sqr2
	)		const

inlineinherited

KD Tree-based search for the TWO closest point to some given 2D coordinates.

This method automatically build the "m_kdtree_data" structure when:

It is called for the first time
The map has changed
The KD-tree was build for 3D.

Parameters

x0	The X coordinate of the query.
y0	The Y coordinate of the query.
out_x1	The X coordinate of the first correspondence.
out_y1	The Y coordinate of the first correspondence.
out_x2	The X coordinate of the second correspondence.
out_y2	The Y coordinate of the second correspondence.
out_dist_sqr1	The square distance between the query and the first returned point.
out_dist_sqr2	The square distance between the query and the second returned point.

See also: kdTreeClosestPoint2D

Definition at line 224 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::derived(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::index, nanoflann::KNNResultSet< DistanceType, IndexType, CountType >::init(), mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::m_kdtree2d_data, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::m_num_points, MRPT_END, MRPT_START, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::TKDTreeDataHolder< _DIM >::query_point, mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::rebuild_kdTree_2D(), and THROW_EXCEPTION.

◆ kdTreeTwoClosestPoint2D() [2/2]

void mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdTreeTwoClosestPoint2D	(	const TPoint2D &	p0,
		TPoint2D &	pOut1,
		TPoint2D &	pOut2,
		float &	outDistSqr1,
		float &	outDistSqr2
	)		const

inlineinherited

Definition at line 257 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable< Derived, num_t, metric_t >::kdTreeTwoClosestPoint2D(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

◆ loadFromTextFile()

void CFeatureList::loadFromTextFile ( const std::string & fileName )

Save feature list to a text file.

Definition at line 1117 of file CFeature.cpp.

References mrpt::format(), MRPT_END, MRPT_START, push_back(), THROW_EXCEPTION, and val.

◆ mark_as_outdated()

void mrpt::vision::CFeatureList::mark_as_outdated ( ) const

inline

Definition at line 493 of file CFeature.h.

References mrpt::math::KDTreeCapable< CFeatureList >::kdtree_mark_as_outdated().

◆ mark_kdtree_as_outdated()

void mrpt::vision::CFeatureList::mark_kdtree_as_outdated ( ) const

inline

Call this when the list of features has been modified so the KD-tree is marked as outdated.

Definition at line 362 of file CFeature.h.

References mrpt::math::KDTreeCapable< CFeatureList >::kdtree_mark_as_outdated().

Referenced by clear(), erase(), push_back(), and resize().

◆ nearest()

CFeature::Ptr CFeatureList::nearest	(	const float	x,
		const float	y,
		double &	max_dist
	)		const

Get a reference to the nearest feature to the a given 2D point (version returning distance to closest feature in "max_dist")

Parameters

x	[IN] The query point x-coordinate
y	[IN] The query point y-coordinate
max_dist	[IN/OUT] At input: The maximum distance to search for. At output: The actual distance to the feature.

Returns: A reference to the found feature, or a nullptr smart pointer if none found.

Note: See also all the available KD-tree search methods, listed in mrpt::math::KDTreeCapable

Definition at line 1303 of file CFeature.cpp.

References empty().

◆ operator[]() [1/2]

CFeature::Ptr& mrpt::vision::CFeatureList::operator[] ( const unsigned int index )

inline

Definition at line 404 of file CFeature.h.

References m_feats.

◆ operator[]() [2/2]

const CFeature::Ptr& mrpt::vision::CFeatureList::operator[] ( const unsigned int index ) const

inline

Definition at line 408 of file CFeature.h.

References m_feats.

◆ push_back()

void mrpt::vision::CFeatureList::push_back ( const CFeature::Ptr & f )

inline

Definition at line 398 of file CFeature.h.

References m_feats, and mark_kdtree_as_outdated().

◆ rbegin() [1/2]

reverse_iterator mrpt::vision::CFeatureList::rbegin ( )

inline

Definition at line 375 of file CFeature.h.

References m_feats.

◆ rbegin() [2/2]

const_reverse_iterator mrpt::vision::CFeatureList::rbegin ( ) const

inline

Definition at line 377 of file CFeature.h.

References m_feats.

◆ rend() [1/2]

reverse_iterator mrpt::vision::CFeatureList::rend ( )

inline

Definition at line 376 of file CFeature.h.

References m_feats.

◆ rend() [2/2]

const_reverse_iterator mrpt::vision::CFeatureList::rend ( ) const

inline

Definition at line 378 of file CFeature.h.

References m_feats.

◆ resize()

void mrpt::vision::CFeatureList::resize ( size_t N )

inline

Definition at line 392 of file CFeature.h.

References m_feats, and mark_kdtree_as_outdated().

Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::CMatchedFeatureList::getBothFeatureLists(), and mrpt::vision::CFeatureExtraction::internal_computeORBDescriptors().

◆ saveToTextFile()

void CFeatureList::saveToTextFile	(	const std::string &	fileName,
		bool	APPEND = `false`
	)

Save feature list to a text file.

Definition at line 1039 of file CFeature.cpp.

References begin(), MRPT_END, MRPT_START, and THROW_EXCEPTION.

Referenced by mrpt::vision::CFeatureExtraction::extractFeaturesSIFT().

◆ setFeatureID()

void mrpt::vision::CFeatureList::setFeatureID	(	size_t	i,
		TFeatureID	id
	)

inline

Definition at line 482 of file CFeature.h.

References m_feats.

◆ setFeatureResponse()

void mrpt::vision::CFeatureList::setFeatureResponse	(	size_t	i,
		float	r
	)

inline

Definition at line 483 of file CFeature.h.

References m_feats.

◆ setFeatureX()

void mrpt::vision::CFeatureList::setFeatureX	(	size_t	i,
		float	x
	)

inline

Definition at line 478 of file CFeature.h.

References m_feats.

◆ setFeatureXf()

void mrpt::vision::CFeatureList::setFeatureXf	(	size_t	i,
		float	x
	)

inline

Definition at line 479 of file CFeature.h.

References m_feats.

◆ setFeatureY()

void mrpt::vision::CFeatureList::setFeatureY	(	size_t	i,
		float	y
	)

inline

Definition at line 480 of file CFeature.h.

References m_feats.

◆ setFeatureYf()

void mrpt::vision::CFeatureList::setFeatureYf	(	size_t	i,
		float	y
	)

inline

Definition at line 481 of file CFeature.h.

References m_feats.

◆ setScale()

void mrpt::vision::CFeatureList::setScale	(	size_t	i,
		float	s
	)

inline

Definition at line 487 of file CFeature.h.

References m_feats.

◆ setTrackStatus()

void mrpt::vision::CFeatureList::setTrackStatus	(	size_t	i,
		TFeatureTrackStatus	s
	)

inline

Definition at line 488 of file CFeature.h.

References m_feats.

◆ size()

size_t mrpt::vision::CFeatureList::size ( ) const

inline

Definition at line 386 of file CFeature.h.

References m_feats.

Referenced by mrpt::vision::checkTrackedFeatures(), mrpt::vision::computeMultiOrientations(), mrpt::vision::computeMultiResolutionDescriptors(), copyListFrom(), mrpt::vision::CFeatureExtraction::extractFeaturesORB(), mrpt::vision::CFeatureExtraction::extractFeaturesSIFT(), mrpt::vision::find_descriptor_pairings(), mrpt::vision::getDispersion(), mrpt::vision::CFeatureExtraction::internal_computeBLDLineDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeLATCHDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeORBDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeSiftDescriptors(), mrpt::vision::CFeatureExtraction::internal_computeSurfDescriptors(), mrpt::vision::detail::TSIFTDesc2KDTree_Adaptor< distance_t >::kdtree_distance(), mrpt::vision::detail::TSURFDesc2KDTree_Adaptor< distance_t >::kdtree_distance(), mrpt::vision::detail::TSIFTDesc2KDTree_Adaptor< distance_t >::kdtree_get_point_count(), mrpt::vision::detail::TSURFDesc2KDTree_Adaptor< distance_t >::kdtree_get_point_count(), kdtree_get_point_count(), mrpt::vision::matchFeatures(), mrpt::vision::matchMultiResolutionFeatures(), mrpt::vision::projectMatchedFeatures(), mrpt::vision::TSIFTDescriptorsKDTreeIndex< distance_t, metric_t >::regenerate_kdtreee(), mrpt::vision::TSURFDescriptorsKDTreeIndex< distance_t, metric_t >::regenerate_kdtreee(), mrpt::vision::relocalizeMultiDesc(), mrpt::vision::rowChecking(), and mrpt::vision::updateBaseList().

Member Data Documentation

◆ kdtree_search_params

TKDTreeSearchParams mrpt::math::KDTreeCapable< CFeatureList , float , nanoflann::L2_Simple_Adaptor<float , CFeatureList > >::kdtree_search_params

inherited

Parameters to tune the ANN searches.

Definition at line 101 of file KDTreeCapable.h.

◆ m_feats

TInternalFeatList mrpt::vision::CFeatureList::m_feats

protected

The actual container with the list of features.

Definition at line 310 of file CFeature.h.

Referenced by begin(), clear(), empty(), end(), erase(), getFeatureID(), getFeatureResponse(), getFeatureX(), getFeatureY(), getScale(), getTrackStatus(), isPointFeature(), kdtree_distance(), kdtree_get_pt(), operator[](), push_back(), rbegin(), rend(), resize(), setFeatureID(), setFeatureResponse(), setFeatureX(), setFeatureXf(), setFeatureY(), setFeatureYf(), setScale(), setTrackStatus(), and size().

Detailed Description

Public Types

Public Member Functions

Public Attributes

Protected Types

Protected Member Functions

Protected Attributes

Method and datatypes to emulate a STL container

Member Typedef Documentation

◆ const_iterator

◆ const_reverse_iterator

◆ iterator

◆ reverse_iterator

◆ self_t

◆ TInternalFeatList

Constructor & Destructor Documentation

◆ CFeatureList()

◆ ~CFeatureList()

Member Function Documentation

◆ begin() [1/2]

◆ begin() [2/2]

◆ clear()

◆ copyListFrom()

◆ derived() [1/2]

◆ derived() [2/2]

◆ empty()

◆ end() [1/2]

◆ end() [2/2]

◆ erase()

◆ get_type()

◆ getByID() [1/2]

◆ getByID() [2/2]

◆ getByMultiIDs()

◆ getFeatureID()

◆ getFeatureResponse()

◆ getFeatureX()

◆ getFeatureY()

◆ getMaxID()

◆ getScale()

◆ getTrackStatus()

◆ isPointFeature()

◆ kdtree_distance()

◆ kdtree_get_bbox()

◆ kdtree_get_point_count()

◆ kdtree_get_pt()

◆ kdtree_mark_as_outdated()

◆ kdTreeClosestPoint2D() [1/3]

◆ kdTreeClosestPoint2D() [2/3]

◆ kdTreeClosestPoint2D() [3/3]

◆ kdTreeClosestPoint2DsqrError() [1/2]

◆ kdTreeClosestPoint2DsqrError() [2/2]

◆ kdTreeClosestPoint3D() [1/3]

◆ kdTreeClosestPoint3D() [2/3]

◆ kdTreeClosestPoint3D() [3/3]

◆ kdTreeNClosestPoint2D() [1/2]

◆ kdTreeNClosestPoint2D() [2/2]

◆ kdTreeNClosestPoint2DIdx() [1/2]

◆ kdTreeNClosestPoint2DIdx() [2/2]

◆ kdTreeNClosestPoint3D() [1/2]

◆ kdTreeNClosestPoint3D() [2/2]

◆ kdTreeNClosestPoint3DIdx() [1/2]

◆ kdTreeNClosestPoint3DIdx() [2/2]

◆ kdTreeNClosestPoint3DWithIdx()

◆ kdTreeRadiusSearch2D()

◆ kdTreeRadiusSearch3D()

◆ kdTreeTwoClosestPoint2D() [1/2]

◆ kdTreeTwoClosestPoint2D() [2/2]

◆ loadFromTextFile()

◆ mark_as_outdated()

◆ mark_kdtree_as_outdated()

◆ nearest()

◆ operator[]() [1/2]

◆ operator[]() [2/2]

◆ push_back()

◆ rbegin() [1/2]

◆ rbegin() [2/2]

◆ rend() [1/2]

◆ rend() [2/2]

◆ resize()

◆ saveToTextFile()