Detailed Description

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

#include <mrpt/vision/CFeature.h>

Inheritance diagram for mrpt::vision::CFeatureList:

Public Types
typedef KDTreeCapable< Derived, num_t, metric_t >	self_t
Public Member Functions
TFeatureType	get_type () const
	The type of the first feature in the list.
void	saveToTextFile (const std::string &fileName, bool APPEND=false)
	Save feature list to a text file.
void	loadFromTextFile (const std::string &fileName)
	Save feature list to a text file.
void	copyListFrom (const CFeatureList &otherList)
	Copies the content of another CFeatureList inside this one.
TFeatureID	getMaxID () const
	Get the maximum ID into the list.
CFeaturePtr	getByID (const TFeatureID &ID) const
	Get a reference to a Feature from its ID.
CFeaturePtr	getByID (const TFeatureID &ID, int &out_idx) const
void	getByMultiIDs (const vector< TFeatureID > &IDs, vector< CFeaturePtr > &out, vector< int > &outIndex) const
	Get a vector of references to a subset of features from their IDs.
CFeaturePtr	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")
	CFeatureList ()
	Constructor.
virtual	~CFeatureList ()
	Virtual destructor.
void	mark_kdtree_as_outdated () const
	Call this when the list of features has been modified so the KD-tree is marked as outdated.
const Derived &	derived () const
	CRTP helper method.
Derived &	derived ()
	CRTP helper method.
Methods that MUST be implemented by children classes of KDTreeCapable
size_t	kdtree_get_point_count () const
	Must return the number of data points.
float	kdtree_get_pt (const size_t idx, int dim) const
	Returns the dim'th component of the idx'th point in the class:
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:
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.
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.
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.
void	kdTreeTwoClosestPoint2D (const TPoint2D &p0, TPoint2D &pOut1, TPoint2D &pOut2, float &outDistSqr1, float &outDistSqr2) const
std::vector< int >	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.
std::vector< int >	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< int > &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.
void	kdTreeNClosestPoint2DIdx (const TPoint2D &p0, size_t N, std::vector< int > &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.
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.
void	kdTreeNClosestPoint3D (const TPoint3D &p0, size_t N, std::vector< TPoint3D > &pOut, std::vector< float > &outDistSqr) const
void	kdTreeNClosestPoint3DIdx (float x0, float y0, float z0, size_t knn, std::vector< int > &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.
void	kdTreeNClosestPoint3DIdx (const TPoint3D &p0, size_t N, std::vector< int > &outIdx, std::vector< float > &outDistSqr) const
Public Attributes
TKDTreeSearchParams	kdtree_search_params
	Parameters to tune the ANN searches.
Protected Types
typedef std::vector< CFeaturePtr >	TInternalFeatList
Protected Member Functions
void	kdtree_mark_as_outdated () const
	To be called by child classes when KD tree data changes.
Protected Attributes
TInternalFeatList	m_feats
	The actual container with the list of features.
Method and datatypes to emulate a STL container
typedef TInternalFeatList::iterator	iterator
typedef TInternalFeatList::const_iterator	const_iterator
typedef TInternalFeatList::reverse_iterator	reverse_iterator
typedef TInternalFeatList::const_reverse_iterator	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 CFeaturePtr &f)
CFeaturePtr &	operator[] (const unsigned int index)
const CFeaturePtr &	operator[] (const unsigned int index) const

Member Typedef Documentation

typedef TInternalFeatList::const_iterator mrpt::vision::CFeatureList::const_iterator

Definition at line 280 of file CFeature.h.

typedef TInternalFeatList::const_reverse_iterator mrpt::vision::CFeatureList::const_reverse_iterator

Definition at line 283 of file CFeature.h.

typedef TInternalFeatList::iterator mrpt::vision::CFeatureList::iterator

Definition at line 279 of file CFeature.h.

typedef TInternalFeatList::reverse_iterator mrpt::vision::CFeatureList::reverse_iterator

Definition at line 282 of file CFeature.h.

typedef KDTreeCapable<Derived,num_t,metric_t> mrpt::math::KDTreeCapable::self_t [inherited]

Definition at line 90 of file KDTreeCapable.h.

typedef std::vector<CFeaturePtr> mrpt::vision::CFeatureList::TInternalFeatList [protected]

Definition at line 232 of file CFeature.h.

Constructor & Destructor Documentation

mrpt::vision::CFeatureList::CFeatureList ( )

Constructor.

virtual mrpt::vision::CFeatureList::~CFeatureList ( ) [virtual]

Virtual destructor.

Member Function Documentation

iterator mrpt::vision::CFeatureList::begin ( ) [inline]

Definition at line 285 of file CFeature.h.

Referenced by mrpt::vision::CGenericFeatureTracker::trackFeaturesNewList().

const_iterator mrpt::vision::CFeatureList::begin ( ) const [inline]

Definition at line 287 of file CFeature.h.

void mrpt::vision::CFeatureList::clear ( void ) [inline]

Definition at line 300 of file CFeature.h.

void mrpt::vision::CFeatureList::copyListFrom ( const CFeatureList & otherList )

Copies the content of another CFeatureList inside this one.

The inner features are also copied.

const Derived& mrpt::math::KDTreeCapable::derived ( ) const [inline, inherited]

CRTP helper method.

Definition at line 100 of file KDTreeCapable.h.

Derived& mrpt::math::KDTreeCapable::derived ( ) [inline, inherited]

CRTP helper method.

Definition at line 102 of file KDTreeCapable.h.

bool mrpt::vision::CFeatureList::empty ( ) const [inline]

Definition at line 297 of file CFeature.h.

iterator mrpt::vision::CFeatureList::end ( ) [inline]

Definition at line 286 of file CFeature.h.

Referenced by mrpt::vision::CGenericFeatureTracker::trackFeaturesNewList().

const_iterator mrpt::vision::CFeatureList::end ( ) const [inline]

Definition at line 288 of file CFeature.h.

iterator mrpt::vision::CFeatureList::erase ( const iterator it ) [inline]

Definition at line 295 of file CFeature.h.

TFeatureType mrpt::vision::CFeatureList::get_type ( ) const [inline]

The type of the first feature in the list.

Definition at line 238 of file CFeature.h.

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

Referenced by get_type().

CFeaturePtr mrpt::vision::CFeatureList::getByID ( const TFeatureID & ID ) const

Get a reference to a Feature from its ID.

CFeaturePtr mrpt::vision::CFeatureList::getByID	(	const TFeatureID &	ID,
		int &	out_idx
	)		const

void mrpt::vision::CFeatureList::getByMultiIDs	(	const vector< TFeatureID > &	IDs,
		vector< CFeaturePtr > &	out,
		vector< int > &	outIndex
	)		const

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

TFeatureID mrpt::vision::CFeatureList::getFeatureID ( size_t i ) const [inline]

Definition at line 347 of file CFeature.h.

float mrpt::vision::CFeatureList::getFeatureResponse ( size_t i ) const [inline]

Definition at line 348 of file CFeature.h.

float mrpt::vision::CFeatureList::getFeatureX ( size_t i ) const [inline]

Definition at line 345 of file CFeature.h.

float mrpt::vision::CFeatureList::getFeatureY ( size_t i ) const [inline]

Definition at line 346 of file CFeature.h.

TFeatureID mrpt::vision::CFeatureList::getMaxID ( ) const

Get the maximum ID into the list.

float mrpt::vision::CFeatureList::getScale ( size_t i ) const [inline]

Definition at line 350 of file CFeature.h.

TFeatureTrackStatus mrpt::vision::CFeatureList::getTrackStatus ( size_t i ) [inline]

Definition at line 351 of file CFeature.h.

bool mrpt::vision::CFeatureList::isPointFeature ( size_t i ) const [inline]

Definition at line 349 of file CFeature.h.

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 325 of file CFeature.h.

References ASSERTDEB_.

template<typename BBOX >

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

Definition at line 338 of file CFeature.h.

size_t mrpt::vision::CFeatureList::kdtree_get_point_count ( ) const [inline]

Must return the number of data points.

Definition at line 315 of file CFeature.h.

References mrpt::math::size().

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 318 of file CFeature.h.

References ASSERTDEB_.

void mrpt::math::KDTreeCapable::kdtree_mark_as_outdated ( ) const [inline, protected, inherited]

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

Definition at line 575 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable::m_kdtree_is_uptodate.

size_t mrpt::math::KDTreeCapable::kdTreeClosestPoint2D	(	float	x0,
		float	y0,
		float &	out_x,
		float &	out_y,
		float &	out_dist_sqr
	)		const `[inline, inherited]`

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 136 of file KDTreeCapable.h.

References MRPT_START, mrpt::math::KDTreeCapable::rebuild_kdTree_2D(), mrpt::math::KDTreeCapable::m_kdtree2d_data, mrpt::math::KDTreeCapable::TKDTreeDataHolder::m_num_points, THROW_EXCEPTION, nanoflann::KNNResultSet::init(), mrpt::math::KDTreeCapable::TKDTreeDataHolder::query_point, mrpt::math::KDTreeCapable::TKDTreeDataHolder::index, mrpt::math::KDTreeCapable::kdtree_search_params, mrpt::math::KDTreeCapable::TKDTreeSearchParams::nChecks, mrpt::math::KDTreeCapable::derived(), and MRPT_END.

size_t mrpt::math::KDTreeCapable::kdTreeClosestPoint2D	(	float	x0,
		float	y0,
		float &	out_dist_sqr
	)		const `[inline, inherited]`

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 166 of file KDTreeCapable.h.

References MRPT_START, mrpt::math::KDTreeCapable::rebuild_kdTree_2D(), mrpt::math::KDTreeCapable::m_kdtree2d_data, mrpt::math::KDTreeCapable::TKDTreeDataHolder::m_num_points, THROW_EXCEPTION, nanoflann::KNNResultSet::init(), mrpt::math::KDTreeCapable::TKDTreeDataHolder::query_point, mrpt::math::KDTreeCapable::TKDTreeDataHolder::index, mrpt::math::KDTreeCapable::kdtree_search_params, mrpt::math::KDTreeCapable::TKDTreeSearchParams::nChecks, and MRPT_END.

size_t mrpt::math::KDTreeCapable::kdTreeClosestPoint2D	(	const TPoint2D &	p0,
		TPoint2D &	pOut,
		float &	outDistSqr
	)		const `[inline, inherited]`

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 189 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable::kdTreeClosestPoint2D(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

float mrpt::math::KDTreeCapable::kdTreeClosestPoint2DsqrError	(	float	x0,
		float	y0
	)		const `[inline, inherited]`

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

Definition at line 199 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable::kdTreeClosestPoint2D().

float mrpt::math::KDTreeCapable::kdTreeClosestPoint2DsqrError ( const TPoint2D & p0 ) const [inline, inherited]

Definition at line 208 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable::kdTreeClosestPoint2DsqrError(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

size_t mrpt::math::KDTreeCapable::kdTreeClosestPoint3D	(	float	x0,
		float	y0,
		float	z0,
		float &	out_x,
		float &	out_y,
		float &	out_z,
		float &	out_dist_sqr
	)		const `[inline, inherited]`

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 394 of file KDTreeCapable.h.

References MRPT_START, mrpt::math::KDTreeCapable::rebuild_kdTree_3D(), mrpt::math::KDTreeCapable::m_kdtree3d_data, mrpt::math::KDTreeCapable::TKDTreeDataHolder::m_num_points, THROW_EXCEPTION, nanoflann::KNNResultSet::init(), mrpt::math::KDTreeCapable::TKDTreeDataHolder::query_point, mrpt::math::KDTreeCapable::TKDTreeDataHolder::index, mrpt::math::KDTreeCapable::kdtree_search_params, mrpt::math::KDTreeCapable::TKDTreeSearchParams::nChecks, mrpt::math::KDTreeCapable::derived(), and MRPT_END.

size_t mrpt::math::KDTreeCapable::kdTreeClosestPoint3D	(	float	x0,
		float	y0,
		float	z0,
		float &	out_dist_sqr
	)		const `[inline, inherited]`

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 428 of file KDTreeCapable.h.

References MRPT_START, mrpt::math::KDTreeCapable::rebuild_kdTree_3D(), mrpt::math::KDTreeCapable::m_kdtree3d_data, mrpt::math::KDTreeCapable::TKDTreeDataHolder::m_num_points, THROW_EXCEPTION, nanoflann::KNNResultSet::init(), mrpt::math::KDTreeCapable::TKDTreeDataHolder::query_point, mrpt::math::KDTreeCapable::TKDTreeDataHolder::index, mrpt::math::KDTreeCapable::kdtree_search_params, mrpt::math::KDTreeCapable::TKDTreeSearchParams::nChecks, and MRPT_END.

size_t mrpt::math::KDTreeCapable::kdTreeClosestPoint3D	(	const TPoint3D &	p0,
		TPoint3D &	pOut,
		float &	outDistSqr
	)		const `[inline, inherited]`

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 454 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable::kdTreeClosestPoint3D(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

std::vector<int> mrpt::math::KDTreeCapable::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 `[inline, inherited]`

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 293 of file KDTreeCapable.h.

References MRPT_START, mrpt::math::KDTreeCapable::rebuild_kdTree_2D(), mrpt::math::KDTreeCapable::m_kdtree2d_data, mrpt::math::KDTreeCapable::TKDTreeDataHolder::m_num_points, THROW_EXCEPTION, nanoflann::KNNResultSet::init(), mrpt::math::KDTreeCapable::TKDTreeDataHolder::query_point, mrpt::math::KDTreeCapable::TKDTreeDataHolder::index, mrpt::math::KDTreeCapable::kdtree_search_params, mrpt::math::KDTreeCapable::TKDTreeSearchParams::nChecks, mrpt::math::KDTreeCapable::derived(), and MRPT_END.

std::vector<int> mrpt::math::KDTreeCapable::kdTreeNClosestPoint2D	(	const TPoint2D &	p0,
		size_t	N,
		std::vector< TPoint2D > &	pOut,
		std::vector< float > &	outDistSqr
	)		const `[inline, inherited]`

Definition at line 326 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable::kdTreeNClosestPoint2D(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

void mrpt::math::KDTreeCapable::kdTreeNClosestPoint2DIdx	(	float	x0,
		float	y0,
		size_t	knn,
		std::vector< int > &	out_idx,
		std::vector< float > &	out_dist_sqr
	)		const `[inline, inherited]`

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 351 of file KDTreeCapable.h.

References MRPT_START, mrpt::math::KDTreeCapable::rebuild_kdTree_2D(), mrpt::math::KDTreeCapable::m_kdtree2d_data, mrpt::math::KDTreeCapable::TKDTreeDataHolder::m_num_points, THROW_EXCEPTION, nanoflann::KNNResultSet::init(), mrpt::math::KDTreeCapable::TKDTreeDataHolder::query_point, mrpt::math::KDTreeCapable::TKDTreeDataHolder::index, mrpt::math::KDTreeCapable::kdtree_search_params, mrpt::math::KDTreeCapable::TKDTreeSearchParams::nChecks, and MRPT_END.

void mrpt::math::KDTreeCapable::kdTreeNClosestPoint2DIdx	(	const TPoint2D &	p0,
		size_t	N,
		std::vector< int > &	outIdx,
		std::vector< float > &	outDistSqr
	)		const `[inline, inherited]`

Definition at line 373 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable::kdTreeNClosestPoint2DIdx(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

void mrpt::math::KDTreeCapable::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 `[inline, inherited]`

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 480 of file KDTreeCapable.h.

References MRPT_START, mrpt::math::KDTreeCapable::rebuild_kdTree_3D(), mrpt::math::KDTreeCapable::m_kdtree3d_data, mrpt::math::KDTreeCapable::TKDTreeDataHolder::m_num_points, THROW_EXCEPTION, nanoflann::KNNResultSet::init(), mrpt::math::KDTreeCapable::TKDTreeDataHolder::query_point, mrpt::math::KDTreeCapable::TKDTreeDataHolder::index, mrpt::math::KDTreeCapable::kdtree_search_params, mrpt::math::KDTreeCapable::TKDTreeSearchParams::nChecks, mrpt::math::KDTreeCapable::derived(), and MRPT_END.

void mrpt::math::KDTreeCapable::kdTreeNClosestPoint3D	(	const TPoint3D &	p0,
		size_t	N,
		std::vector< TPoint3D > &	pOut,
		std::vector< float > &	outDistSqr
	)		const `[inline, inherited]`

Definition at line 517 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable::kdTreeNClosestPoint3D(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void mrpt::math::KDTreeCapable::kdTreeNClosestPoint3DIdx	(	float	x0,
		float	y0,
		float	z0,
		size_t	knn,
		std::vector< int > &	out_idx,
		std::vector< float > &	out_dist_sqr
	)		const `[inline, inherited]`

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

Definition at line 543 of file KDTreeCapable.h.

References MRPT_START, mrpt::math::KDTreeCapable::rebuild_kdTree_3D(), mrpt::math::KDTreeCapable::m_kdtree3d_data, mrpt::math::KDTreeCapable::TKDTreeDataHolder::m_num_points, THROW_EXCEPTION, nanoflann::KNNResultSet::init(), mrpt::math::KDTreeCapable::TKDTreeDataHolder::query_point, mrpt::math::KDTreeCapable::TKDTreeDataHolder::index, mrpt::math::KDTreeCapable::kdtree_search_params, mrpt::math::KDTreeCapable::TKDTreeSearchParams::nChecks, and MRPT_END.

void mrpt::math::KDTreeCapable::kdTreeNClosestPoint3DIdx	(	const TPoint3D &	p0,
		size_t	N,
		std::vector< int > &	outIdx,
		std::vector< float > &	outDistSqr
	)		const `[inline, inherited]`

Definition at line 567 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable::kdTreeNClosestPoint3DIdx(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void mrpt::math::KDTreeCapable::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 `[inline, inherited]`

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 229 of file KDTreeCapable.h.

References MRPT_START, mrpt::math::KDTreeCapable::rebuild_kdTree_2D(), mrpt::math::KDTreeCapable::m_kdtree2d_data, mrpt::math::KDTreeCapable::TKDTreeDataHolder::m_num_points, THROW_EXCEPTION, nanoflann::KNNResultSet::init(), mrpt::math::KDTreeCapable::TKDTreeDataHolder::query_point, mrpt::math::KDTreeCapable::TKDTreeDataHolder::index, mrpt::math::KDTreeCapable::kdtree_search_params, mrpt::math::KDTreeCapable::TKDTreeSearchParams::nChecks, mrpt::math::KDTreeCapable::derived(), and MRPT_END.

void mrpt::math::KDTreeCapable::kdTreeTwoClosestPoint2D	(	const TPoint2D &	p0,
		TPoint2D &	pOut1,
		TPoint2D &	pOut2,
		float &	outDistSqr1,
		float &	outDistSqr2
	)		const `[inline, inherited]`

Definition at line 266 of file KDTreeCapable.h.

References mrpt::math::KDTreeCapable::kdTreeTwoClosestPoint2D(), mrpt::math::TPoint2D::x, and mrpt::math::TPoint2D::y.

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

Save feature list to a text file.

void mrpt::vision::CFeatureList::mark_as_outdated ( ) const [inline]

Definition at line 363 of file CFeature.h.

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 275 of file CFeature.h.

CFeaturePtr mrpt::vision::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 NULL smart pointer if none found.

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

CFeaturePtr& mrpt::vision::CFeatureList::operator[] ( const unsigned int index ) [inline]

Definition at line 305 of file CFeature.h.

const CFeaturePtr& mrpt::vision::CFeatureList::operator[] ( const unsigned int index ) const [inline]

Definition at line 306 of file CFeature.h.

void mrpt::vision::CFeatureList::push_back ( const CFeaturePtr & f ) [inline]

Definition at line 303 of file CFeature.h.

reverse_iterator mrpt::vision::CFeatureList::rbegin ( ) [inline]

Definition at line 290 of file CFeature.h.

const_reverse_iterator mrpt::vision::CFeatureList::rbegin ( ) const [inline]

Definition at line 292 of file CFeature.h.

reverse_iterator mrpt::vision::CFeatureList::rend ( ) [inline]

Definition at line 291 of file CFeature.h.

const_reverse_iterator mrpt::vision::CFeatureList::rend ( ) const [inline]

Definition at line 293 of file CFeature.h.

void mrpt::vision::CFeatureList::resize ( size_t N ) [inline]

Definition at line 301 of file CFeature.h.

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

Save feature list to a text file.

void mrpt::vision::CFeatureList::setFeatureID	(	size_t	i,
		TFeatureID	id
	)		`[inline]`

Definition at line 358 of file CFeature.h.

void mrpt::vision::CFeatureList::setFeatureResponse	(	size_t	i,
		float	r
	)		`[inline]`

Definition at line 359 of file CFeature.h.

void mrpt::vision::CFeatureList::setFeatureX	(	size_t	i,
		float	x
	)		`[inline]`

Definition at line 353 of file CFeature.h.

void mrpt::vision::CFeatureList::setFeatureXf	(	size_t	i,
		float	x
	)		`[inline]`

Definition at line 354 of file CFeature.h.

void mrpt::vision::CFeatureList::setFeatureY	(	size_t	i,
		float	y
	)		`[inline]`

Definition at line 355 of file CFeature.h.

References Eigen::internal::y.

void mrpt::vision::CFeatureList::setFeatureYf	(	size_t	i,
		float	y
	)		`[inline]`

Definition at line 356 of file CFeature.h.

References Eigen::internal::y.

void mrpt::vision::CFeatureList::setScale	(	size_t	i,
		float	s
	)		`[inline]`

Definition at line 360 of file CFeature.h.

void mrpt::vision::CFeatureList::setTrackStatus	(	size_t	i,
		TFeatureTrackStatus	s
	)		`[inline]`

Definition at line 361 of file CFeature.h.

size_t mrpt::vision::CFeatureList::size ( ) const [inline]

Definition at line 298 of file CFeature.h.

Member Data Documentation

TKDTreeSearchParams mrpt::math::KDTreeCapable::kdtree_search_params [inherited]

Parameters to tune the ANN searches.

Definition at line 116 of file KDTreeCapable.h.

TInternalFeatList mrpt::vision::CFeatureList::m_feats [protected]

The actual container with the list of features.

Definition at line 234 of file CFeature.h.

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

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation