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...
#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 |
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.
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] |
Virtual destructor.
Definition at line 203 of file vision/CFeature.h.
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] |
Get the type of the feature.
Definition at line 196 of file vision/CFeature.h.
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 feature.
Definition at line 117 of file vision/CFeature.h.
ID of the image from which the feature was extracted.
Definition at line 125 of file vision/CFeature.h.
Status of the feature tracking process.
Definition at line 121 of file vision/CFeature.h.
Value of the goodness of the feature.
Definition at line 122 of file vision/CFeature.h.
Main orientation of the feature.
Definition at line 123 of file vision/CFeature.h.
A patch of the image surrounding the feature.
Definition at line 118 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.
Feature scale into the scale space.
Definition at line 124 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.
Coordinates in the image.
Definition at line 116 of file vision/CFeature.h.
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