[mrpt-vision]
Overview
Computer vision algorithms
Library mrpt-vision
This library is part of MRPT and can be installed in Debian-based systems with:
sudo apt install libmrpt-vision-dev
Read also how to import MRPT into your CMake scripts.
This library includes some extensions to OpenCV functionality, plus some original classes:
The namespace mrpt::vision::pinhole contains several projection and Jacobian auxiliary functions for projective cameras.
Sparse Bundle Adjustment algorithms. See [mrpt-vision-lgpl]
A versatile feature tracker. See mrpt::vision::CGenericFeatureTracker and the implementation mrpt::vision::CFeatureTracker_KL
mrpt::vision::CFeature: A generic representation of a visual feature, with or without patch, with or without a set of descriptors.
mrpt::vision::CFeatureExtraction: A hub for a number of detection algorithms and different descriptors.
mrpt::vision::TSIFTDescriptorsKDTreeIndex, mrpt::vision::find_descriptor_pairings() and others: KD-tree-based SIFT/SURF feature matching.
mrpt::vision::CVideoFileWriter: A class to write video files.
mrpt::vision::CUndistortMap: A cache of the map for undistorting image, very efficient for sequences of images all with the same distortion parameters.
This library defines a new type of observation (mrpt::obs::CObservationVisualLandmarks) and a new type of map (mrpt::maps::CLandmarksMap).
Notice that sets of parameters for monocular and stereo cameras are defined in grp_mrpt_img for convenience, in the classes:
mrpt::img::TCamera
mrpt::img::TStereoCamera
mrpt::vision::CDifodo: A class which implements a Visual Odometry algorithm based on depth images and the “range flow constraint equation”.
See all the classes in mrpt::vision