#include <mrpt/vision/CFeature.h>
Classes | |
struct | TDescriptors |
All the possible descriptors this feature may have. More... | |
Public Member Functions | |
bool | getFirstDescriptorAsMatrix (mrpt::math::CMatrixFloat &desc) const |
Return the first found descriptor, as a matrix. | |
float | patchCorrelationTo (const CFeature &oFeature) const |
Computes the normalized cross-correlation between the patches of this and another feature (normalized in the range [0,1], such as 0=best, 1=worst). | |
float | descriptorDistanceTo (const CFeature &oFeature, TDescriptorType descriptorToUse=descAny, bool normalize_distances=true) const |
Computes the Euclidean Distance between this feature's and other feature's descriptors, using the given descriptor or the first present one. | |
float | descriptorSIFTDistanceTo (const CFeature &oFeature, bool normalize_distances=true) const |
Computes the Euclidean Distance between "this" and the "other" descriptors. | |
float | descriptorSURFDistanceTo (const CFeature &oFeature, bool normalize_distances=true) const |
Computes the Euclidean Distance between "this" and the "other" descriptors. | |
float | descriptorSpinImgDistanceTo (const CFeature &oFeature, bool normalize_distances=true) const |
Computes the Euclidean Distance between "this" and the "other" descriptors. | |
float | descriptorPolarImgDistanceTo (const CFeature &oFeature, float &minDistAngle, bool normalize_distances=true) const |
Returns the minimum Euclidean Distance between "this" and the "other" polar image descriptor, for the best shift in orientation. | |
float | descriptorLogPolarImgDistanceTo (const CFeature &oFeature, float &minDistAngle, bool normalize_distances=true) const |
Returns the minimum Euclidean Distance between "this" and the "other" log-polar image descriptor, for the best shift in orientation. | |
TFeatureType | get_type () const |
Get the type of the feature. | |
CFeature () | |
Constructor. | |
virtual | ~CFeature () |
Virtual destructor. | |
Public Attributes | |
float | x |
float | y |
Coordinates in the image. | |
TFeatureID | ID |
ID of the feature. | |
CImage | patch |
A patch of the image surrounding the feature. | |
uint16_t | patchSize |
Size of the patch (patchSize x patchSize) (it must be an odd number). | |
TFeatureType | type |
Type of the feature: featNotDefined, featSIFT, featKLT, featHarris, featSURF, featBeacon. | |
TKLTFeatureStatus | KLT_status |
Status of the feature tracking process. | |
float | KLT_val |
Value of the goodness of the feature. | |
float | orientation |
Main orientation of the feature. | |
float | scale |
Feature scale into the scale space. | |
uint8_t | IDSourceImage |
ID of the image from which the feature was extracted. | |
struct MRPTDLLIMPEXP mrpt::vision::CFeature::TDescriptors | descriptors |
All the possible descriptors this feature may have. | |
Static Protected Member Functions | |
static float | internal_distanceBetweenPolarImages (const mrpt::math::CMatrix &desc1, const mrpt::math::CMatrix &desc2, float &minDistAngle, bool normalize_distances, bool dont_shift_angle) |
Internal function used by "descriptorLogPolarImgDistanceTo" and "descriptorPolarImgDistanceTo". | |
Friends | |
class | CFeatureList |
class | CMatchedFeatureList |
The (Euclidean) distance between descriptors in a pair of features can be computed with descriptorDistanceTo, while the similarity of the patches is given by patchCorrelationTo.
Definition at line 108 of file vision/CFeature.h.
mrpt::vision::CFeature::CFeature | ( | ) |
Constructor.
virtual mrpt::vision::CFeature::~CFeature | ( | ) | [inline, virtual] |
float mrpt::vision::CFeature::descriptorDistanceTo | ( | const CFeature & | oFeature, | |
TDescriptorType | descriptorToUse = descAny , |
|||
bool | normalize_distances = true | |||
) | const |
Computes the Euclidean Distance between this feature's and other feature's descriptors, using the given descriptor or the first present one.
float mrpt::vision::CFeature::descriptorLogPolarImgDistanceTo | ( | const CFeature & | oFeature, | |
float & | minDistAngle, | |||
bool | normalize_distances = true | |||
) | const |
Returns the minimum Euclidean Distance between "this" and the "other" log-polar image descriptor, for the best shift in orientation.
oFeature | The other feature to compare with. | |
minDistAngle | The placeholder for the angle at which the smallest distance is found. |
float mrpt::vision::CFeature::descriptorPolarImgDistanceTo | ( | const CFeature & | oFeature, | |
float & | minDistAngle, | |||
bool | normalize_distances = true | |||
) | const |
Returns the minimum Euclidean Distance between "this" and the "other" polar image descriptor, for the best shift in orientation.
oFeature | The other feature to compare with. | |
minDistAngle | The placeholder for the angle at which the smallest distance is found. |
float mrpt::vision::CFeature::descriptorSIFTDistanceTo | ( | const CFeature & | oFeature, | |
bool | normalize_distances = true | |||
) | const |
Computes the Euclidean Distance between "this" and the "other" descriptors.
float mrpt::vision::CFeature::descriptorSpinImgDistanceTo | ( | const CFeature & | oFeature, | |
bool | normalize_distances = true | |||
) | const |
Computes the Euclidean Distance between "this" and the "other" descriptors.
float mrpt::vision::CFeature::descriptorSURFDistanceTo | ( | const CFeature & | oFeature, | |
bool | normalize_distances = true | |||
) | const |
Computes the Euclidean Distance between "this" and the "other" descriptors.
TFeatureType mrpt::vision::CFeature::get_type | ( | ) | const [inline] |
bool mrpt::vision::CFeature::getFirstDescriptorAsMatrix | ( | mrpt::math::CMatrixFloat & | desc | ) | const |
Return the first found descriptor, as a matrix.
static float mrpt::vision::CFeature::internal_distanceBetweenPolarImages | ( | const mrpt::math::CMatrix & | desc1, | |
const mrpt::math::CMatrix & | desc2, | |||
float & | minDistAngle, | |||
bool | normalize_distances, | |||
bool | dont_shift_angle | |||
) | [static, protected] |
Internal function used by "descriptorLogPolarImgDistanceTo" and "descriptorPolarImgDistanceTo".
float mrpt::vision::CFeature::patchCorrelationTo | ( | const CFeature & | oFeature | ) | const |
Computes the normalized cross-correlation between the patches of this and another feature (normalized in the range [0,1], such as 0=best, 1=worst).
friend class CFeatureList [friend] |
Definition at line 110 of file vision/CFeature.h.
friend class CMatchedFeatureList [friend] |
Definition at line 111 of file vision/CFeature.h.
struct MRPTDLLIMPEXP mrpt::vision::CFeature::TDescriptors mrpt::vision::CFeature::descriptors |
All the possible descriptors this feature may have.
ID of the image from which the feature was extracted.
Definition at line 125 of file vision/CFeature.h.
uint16_t mrpt::vision::CFeature::patchSize |
Size of the patch (patchSize x patchSize) (it must be an odd number).
Definition at line 119 of file vision/CFeature.h.
Type of the feature: featNotDefined, featSIFT, featKLT, featHarris, featSURF, featBeacon.
Definition at line 120 of file vision/CFeature.h.
Definition at line 116 of file vision/CFeature.h.
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