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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/slam/CMetricMap.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/poses/CPoint2D.h>
#include <mrpt/poses/CPoint3D.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...
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 Porgramming 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.

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 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 MRPTDLLIMPEXP mrpt::vision::flip (CImage &img)
 Invert an image using OpenCV function.
TPoint3D MRPTDLLIMPEXP mrpt::vision::pixelTo3D (const vision::TPixelCoordf &xy, const CMatrixFloat &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 CImage &inImg1, const CImage &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 (CImage &in_img, CImage &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 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 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.
bool MRPTDLLIMPEXP 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, CMatrixDouble &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.




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