utils.h File Reference

#include <mrpt/vision/CFeature.h>
#include <mrpt/utils/CImage.h>
#include <mrpt/math/utils.h>
#include <mrpt/utils/CLoadableOptions.h>
#include <mrpt/utils/TMatchingPair.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPoint2D.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/slam/CLandmarksMap.h>
#include <mrpt/slam/CObservationVisualLandmarks.h>
#include <mrpt/vision/link_pragmas.h>

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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...
struct	mrpt::vision::TImageCalibData
	Data associated to each image in the calibration process mrpt::vision::checkerBoardCameraCalibration (All the information can be left empty and will be filled up in the calibration method). More...
Namespaces
namespace	mrpt
	This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) 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::vision
	Classes for computer vision, detectors, features, etc.
Typedefs
typedef uint64_t	mrpt::vision::TLandmarkID
	Landmark ID.
typedef std::map< std::string, TImageCalibData >	mrpt::vision::TCalibrationImageList
	A list of images, used in checkerBoardCameraCalibration.
Functions
void VISION_IMPEXP	mrpt::vision::openCV_cross_correlation (const CImage &img, const CImage &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 VISION_IMPEXP	mrpt::vision::flip (CImage &img)
	Invert an image using OpenCV function.
TPoint3D VISION_IMPEXP	mrpt::vision::pixelTo3D (const vision::TPixelCoordf &xy, const CMatrixDouble33 &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.
CMatrixDouble33 VISION_IMPEXP	mrpt::vision::buildIntrinsicParamsMatrix (const double focalLengthX, const double focalLengthY, const double centerX, const double centerY)
	Builds the intrinsic parameters matrix A from parameters:.
CMatrixDouble33 VISION_IMPEXP	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 VISION_IMPEXP	mrpt::vision::deleteRepeatedFeats (CFeatureList &list)
	Explore the feature list and removes features which are in the same coordinates.
void VISION_IMPEXP	mrpt::vision::rowChecking (CFeatureList &leftList, CFeatureList &rightList, float threshold=0.0)
	Search for correspondences which are not in the same row and deletes them
void VISION_IMPEXP	mrpt::vision::checkTrackedFeatures (CFeatureList &leftList, CFeatureList &rightList, vision::TMatchingOptions options)
	Search for correspondences which are not in the same row and deletes them
void VISION_IMPEXP	mrpt::vision::getDispersion (const CFeatureList &list, vector_float &std, vector_float &mean)
	Computes the dispersion of the features in the image.
void VISION_IMPEXP	mrpt::vision::trackFeatures2 (const CImage &inImg1, const CImage &inImg2, CFeatureList &featureList, const unsigned int &window_width=15, const unsigned int &window_height=15)
	Tracks a set of features in an image.
void VISION_IMPEXP	mrpt::vision::trackFeatures (const CImage &inImg1, const CImage &inImg2, vision::CFeatureList &featureList, const unsigned int &window_width=15, const unsigned int &window_height=15)
	Tracks a set of features in an image.
void VISION_IMPEXP	mrpt::vision::trackFeatures (const CImage &inImg1, const CImage &inImg2, const CFeatureList &inFeatureList, CFeatureList &outFeatureList, const unsigned int &window_width, const unsigned int &window_height)
	Tracks a set of features in an image.
void VISION_IMPEXP	mrpt::vision::filterBadCorrsByDistance (mrpt::utils::TMatchingPairList &list, unsigned int numberOfSigmas)
	Filter bad correspondences by distance
void	mrpt::vision::correctDistortion (const CImage &in_img, CImage &out_img, const CMatrixDouble33 &A, const vector_double &dist_coeffs)
	Returns a new image where distortion has been removed.
double VISION_IMPEXP	mrpt::vision::computeMsd (const mrpt::utils::TMatchingPairList &list, const mrpt::poses::CPose3D &Rt)
	Computes the mean squared distance between a set of 3D correspondences
void VISION_IMPEXP	mrpt::vision::cloudsToMatchedList (const mrpt::slam::CObservationVisualLandmarks &cloud1, const mrpt::slam::CObservationVisualLandmarks &cloud2, mrpt::utils::TMatchingPairList &outList)
	Transform two clouds of 3D points into a matched list of points
float VISION_IMPEXP	mrpt::vision::computeMainOrientation (const CImage &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 VISION_IMPEXP	mrpt::vision::matchFeatures (const CFeatureList &list1, const CFeatureList &list2, CMatchedFeatureList &matches, const TMatchingOptions &options=TMatchingOptions())
	Find the matches between two lists of features.
size_t VISION_IMPEXP	mrpt::vision::matchFeatures2 (const CFeatureList &list1, const CFeatureList &list2, CMatchedFeatureList &matches, const TMatchingOptions &options=TMatchingOptions())
	Find the matches between two lists of features.
void VISION_IMPEXP	mrpt::vision::addFeaturesToImage (const CImage &inImg, const CFeatureList &theList, CImage &outImg)
void VISION_IMPEXP	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.
void VISION_IMPEXP	mrpt::vision::projectMatchedFeatures (CFeatureList &leftList, CFeatureList &rightList, const vision::TStereoSystemParams &param, mrpt::slam::CLandmarksMap &landmarks)
	Project a pair of feature lists into the 3D space, using the provided options for the stereo system.
bool VISION_IMPEXP	mrpt::vision::checkerBoardCameraCalibration (TCalibrationImageList &images, unsigned int check_size_x, unsigned int check_size_y, double check_squares_length_X_meters, double check_squares_length_Y_meters, CMatrixDouble33 &intrinsicParams, std::vector< double > &distortionParams, bool normalize_image=true, double *out_MSE=NULL, bool skipDrawDetectedImgs=false)
	Performs a camera calibration (computation of projection and distortion parameters) from a sequence of captured images of a checkerboard.
void VISION_IMPEXP	mrpt::vision::StereoObs2BRObs (const CObservationStereoImages &inObs, const std::vector< double > &sg, CObservationBearingRange &outObs)
	Converts a stereo images observation into a bearing and range observation.
void VISION_IMPEXP	mrpt::vision::StereoObs2BRObs (const CMatchedFeatureList &inMatches, const CMatrixDouble33 &intrinsicParams, const double &baseline, const CPose3D &sensorPose, const std::vector< double > &sg, CObservationBearingRange &outObs)
	Converts a matched feature list into a bearing and range observation (some of the stereo camera system must be provided).