Feature detection, tracking, descriptors and matching

Collaboration diagram for Feature detection, tracking, descriptors and matching:

Classes
struct	mrpt::vision::CFeaturePtr
class	mrpt::vision::CFeature
	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. More...
class	mrpt::vision::CFeatureList
	A list of visual features, to be used as output by detectors, as input/output by trackers, etc. More...
class	mrpt::vision::CMatchedFeatureList
	A list of features. More...
class	mrpt::vision::CFeatureExtraction
	The central class from which images can be analyzed in search of different kinds of interest points and descriptors computed for them. More...
struct	mrpt::vision::TSimpleFeature_templ
	A simple structure for representing one image feature (without descriptor nor patch) - This is the template which allows you to select if pixels are represented as integers or floats. More...
struct	mrpt::vision::TSimpleFeatureTraits< TSimpleFeature >
struct	mrpt::vision::TSimpleFeatureTraits< TSimpleFeaturef >
struct	mrpt::vision::TSimpleFeatureList_templ
	A list of image features using the structure TSimpleFeature for each feature - capable of KD-tree computations Users normally use directly the typedef's: TSimpleFeatureList & TSimpleFeaturefList. More...
struct	mrpt::vision::KeypointResponseSorter
	A helper struct to sort keypoints by their response: It can be used with these types: More...
class	mrpt::vision::CFeatureListKDTree
	Helper class: KD-tree search class for vector<KeyPoint>: Call mark_as_outdated() to force rebuilding the kd-tree after modifying the linked feature list. More...
Typedefs
typedef TSimpleFeature_templ < mrpt::utils::TPixelCoord >	mrpt::vision::TSimpleFeature
	A simple structure for representing one image feature (without descriptor nor patch).
typedef TSimpleFeature_templ < mrpt::utils::TPixelCoordf >	mrpt::vision::TSimpleFeaturef
	A version of TSimpleFeature with subpixel precision.
typedef TSimpleFeatureList_templ < TSimpleFeature >	mrpt::vision::TSimpleFeatureList
	A list of image features using the structure TSimpleFeature for each feature - capable of KD-tree computations.
typedef TSimpleFeatureList_templ < TSimpleFeaturef >	mrpt::vision::TSimpleFeaturefList
	A list of image features using the structure TSimpleFeaturef for each feature - capable of KD-tree computations.
Functions
::mrpt::utils::CStream &	mrpt::vision::operator>> (mrpt::utils::CStream &in, CFeaturePtr &pObj)
Static methods with low-level detector functionality
static void	mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER9 (const CImage &img, TSimpleFeatureList &corners, const int threshold=20, bool append_to_list=false, uint8_t octave=0)
	A SSE2-optimized implementation of FASTER-9 (requires img to be grayscale).
static void	mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER10 (const CImage &img, TSimpleFeatureList &corners, const int threshold=20, bool append_to_list=false, uint8_t octave=0)
	Just like detectFeatures_SSE2_FASTER9() for another version of the detector.
static void	mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER12 (const CImage &img, TSimpleFeatureList &corners, const int threshold=20, bool append_to_list=false, uint8_t octave=0)
	Just like detectFeatures_SSE2_FASTER9() for another version of the detector.

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Typedef Documentation

typedef TSimpleFeature_templ<mrpt::utils::TPixelCoord> mrpt::vision::TSimpleFeature

A simple structure for representing one image feature (without descriptor nor patch).

See also:

TSimpleFeaturef, CFeature, TSimpleFeatureList

Definition at line 70 of file TSimpleFeature.h.

typedef TSimpleFeature_templ<mrpt::utils::TPixelCoordf> mrpt::vision::TSimpleFeaturef

A version of TSimpleFeature with subpixel precision.

Definition at line 73 of file TSimpleFeature.h.

typedef TSimpleFeatureList_templ<TSimpleFeaturef> mrpt::vision::TSimpleFeaturefList

A list of image features using the structure TSimpleFeaturef for each feature - capable of KD-tree computations.

Definition at line 207 of file TSimpleFeature.h.

typedef TSimpleFeatureList_templ<TSimpleFeature> mrpt::vision::TSimpleFeatureList

A list of image features using the structure TSimpleFeature for each feature - capable of KD-tree computations.

Definition at line 204 of file TSimpleFeature.h.

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Function Documentation

static void mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER10	(	const CImage &	img,
		TSimpleFeatureList &	corners,
		const int	threshold = 20,
		bool	append_to_list = false,
		uint8_t	octave = 0
	)		[static]

Just like detectFeatures_SSE2_FASTER9() for another version of the detector.

static void mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER12	(	const CImage &	img,
		TSimpleFeatureList &	corners,
		const int	threshold = 20,
		bool	append_to_list = false,
		uint8_t	octave = 0
	)		[static]

Just like detectFeatures_SSE2_FASTER9() for another version of the detector.

static void mrpt::vision::CFeatureExtraction::detectFeatures_SSE2_FASTER9	(	const CImage &	img,
		TSimpleFeatureList &	corners,
		const int	threshold = 20,
		bool	append_to_list = false,
		uint8_t	octave = 0
	)		[static]

A SSE2-optimized implementation of FASTER-9 (requires img to be grayscale).

If SSE2 is not available, it gratefully falls back to a non-optimized version Only the pt.{x,y} fields are filled out for each feature: the rest of fields are left uninitialized and their content is undefined Note that (x,y) are already scaled to the 0-level image coordinates if octave>0, by means of:

pt.x = detected.x << octave; pt.y = detected.y << octave;

If append_to_list is true, the corners list is not cleared before adding the newly detected feats.

::mrpt::utils::CStream& mrpt::vision::operator>>	(	mrpt::utils::CStream &	in,
		CFeaturePtr &	pObj
	)