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utils.h File Reference

#include <mrpt/vision/CFeature.h>
#include <mrpt/utils/CMRPTImage.h>
#include <mrpt/math/utils.h>
#include <mrpt/utils/CLoadableOptions.h>
#include <mrpt/slam/CMetricMap.h>

Go to the source code of this file.


Classes

struct  mrpt::vision::TStereoSystemParams
 Parameters associated to a stereo system. More...
struct  mrpt::vision::TROI
 A structure for storing a 3D ROI. More...
struct  mrpt::vision::TImageROI
 A structure for defining a ROI within an image. More...
struct  mrpt::vision::TMatchingOptions
 A structure containing options for the matching. More...

Namespaces

namespace  mrpt
 The main namespace for all the Mobile Robot Programming Toolkit (MRPT) C++ libraries.
namespace  mrpt::slam
 This namespace contains algorithms for SLAM, localization, map building, representation of robot's actions and observations, and representation of many kinds of metric maps.
namespace  mrpt::poses
 Classes for 2D/3D geometry representation, both of single values and probability density distributions (PDFs) in many forms.
namespace  mrpt::vision
 Classes for computer vision, detectors, features, etc.

Typedefs

typedef uint64_t mrpt::vision::TLandmarkID
 Landmark ID.

Enumerations

enum  mrpt::vision::TColormap { mrpt::vision::cmGRAYSCALE = 0, mrpt::vision::cmJET }
 Different colormaps. More...
enum  mrpt::vision::TInterpolationMethod { mrpt::vision::imNEAREST = 0, mrpt::vision::imBILINEAR, mrpt::vision::imBICUBIC, mrpt::vision::imAREA }
 Interpolation methods (as defined in OpenCV) Used for OpenCV related operations with images, but also with MRPT native classes. More...

Functions

void MRPTDLLIMPEXP mrpt::vision::openCV_cross_correlation (const CMRPTImage &img, const CMRPTImage &patch_img, size_t &x_max, size_t &y_max, double &max_val, int x_search_ini=-1, int y_search_ini=-1, int x_search_size=-1, int y_search_size=-1)
 Computes the correlation between this image and another one, encapsulating the openCV function cvMatchTemplate This implementation reduced computation time.
void MRPTDLLIMPEXP mrpt::vision::flip (CMRPTImage &img)
 Invert an image using OpenCV function.
poses::CPoint3D MRPTDLLIMPEXP mrpt::vision::pixelTo3D (float x, float y, const CMatrix &A)
 Extract a UNITARY 3D vector in the direction of a 3D point, given from its (x,y) pixels coordinates, and the camera intrinsic coordinates.
CMatrix MRPTDLLIMPEXP mrpt::vision::buildIntrinsicParamsMatrix (float focalLengthX, float focalLengthY, float centerX, float centerY)
 Builds the intrinsic parameters matrix A from parameters:.
CMatrix MRPTDLLIMPEXP mrpt::vision::defaultIntrinsicParamsMatrix (unsigned int camIndex=0, unsigned int resolutionX=320, unsigned int resolutionY=240)
 Returns the stored, default intrinsic params matrix for a given camera:.
void MRPTDLLIMPEXP mrpt::vision::deleteRepeatedFeats (CFeatureList &list)
 Explore the feature list and removes features which are in the same coordinates.
void MRPTDLLIMPEXP mrpt::vision::rowChecking (CFeatureList &leftList, CFeatureList &rightList, float threshold=0.0)
 Computes ONLY the SIFT descriptors of a set of features .
void MRPTDLLIMPEXP mrpt::vision::checkTrackedFeatures (CFeatureList &leftList, CFeatureList &rightList, vision::TMatchingOptions options)
 Search for correspondences which are not in the same row and deletes them
void MRPTDLLIMPEXP mrpt::vision::getDispersion (const CFeatureList &list, vector_float &std, vector_float &mean)
 Computes the dispersion of the features in the image.
void MRPTDLLIMPEXP mrpt::vision::trackFeatures (const CMRPTImage &inImg1, const CMRPTImage &inImg2, vision::CFeatureList &featureList, const unsigned int &window_width=7, const unsigned int &window_height=7)
 Tracks a set of features in an image.
void MRPTDLLIMPEXP mrpt::vision::filterBadCorrsByDistance (mrpt::slam::CMetricMap::TMatchingPairList &list, unsigned int numberOfSigmas)
 Filter bad correspondences by distance
void MRPTDLLIMPEXP mrpt::vision::correctDistortion (CMRPTImage &in_img, CMRPTImage &out_img, CMatrix A, CMatrix dist_coeffs)
 Returns a new image where distortion has been removed.
void MRPTDLLIMPEXP mrpt::vision::hsv2rgb (float h, float s, float v, float &r, float &g, float &b)
 Transform HSV color components to RGB, all of them in the range [0,1].
void MRPTDLLIMPEXP mrpt::vision::rgb2hsv (float r, float g, float b, float &h, float &s, float &v)
 Transform RGB color components to HSV, all of them in the range [0,1].
void MRPTDLLIMPEXP mrpt::vision::colormap (const TColormap &color_map, const float &color_index, float &r, float &g, float &b)
 Transform a float number in the range [0,1] into RGB components.
void MRPTDLLIMPEXP mrpt::vision::jet2rgb (const float &color_index, float &r, float &g, float &b)
 Computes the RGB color components (range [0,1]) for the corresponding color index in the range [0,1] using the MATLAB 'jet' colormap.
double MRPTDLLIMPEXP mrpt::vision::computeMsd (const mrpt::slam::CMetricMap::TMatchingPairList &list, const mrpt::poses::CPose3D &Rt)
 Computes the mean squared distance between a set of 3D correspondences
void MRPTDLLIMPEXP mrpt::vision::cloudsToMatchedList (const mrpt::slam::CObservationVisualLandmarks &cloud1, const mrpt::slam::CObservationVisualLandmarks &cloud2, mrpt::slam::CMetricMap::TMatchingPairList &outList)
 Transform two clouds of 3D points into a matched list of points
float MRPTDLLIMPEXP mrpt::vision::computeMainOrientation (const CMRPTImage &image, const unsigned int &x, const unsigned int &y)
 Computes the main orientation of a set of points with an image (for using in SIFT-based algorithms).
size_t MRPTDLLIMPEXP mrpt::vision::matchFeatures (const CFeatureList &list1, const CFeatureList &list2, CMatchedFeatureList &matches, const TMatchingOptions &options=TMatchingOptions())
 Find the matches between two lists of features.
void MRPTDLLIMPEXP mrpt::vision::projectMatchedFeatures (CMatchedFeatureList &mfList, const vision::TStereoSystemParams &param, mrpt::slam::CLandmarksMap &landmarks)
 Project a list of matched features into the 3D space, using the provided options for the stereo system.




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