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 121 of file CFeature.h.
#include <mrpt/vision/CFeature.h>
Classes | |
struct | TDescriptors |
All the possible descriptors this feature may have. More... | |
Public Member Functions | |
bool | isPointFeature () const |
Return false only for Blob detectors (SIFT, SURF) | |
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. | |
void | saveToTextFile (const std::string &filename, bool APPEND=false) |
Save the feature to a text file in this format: "%% Dump of mrpt::vision::CFeatureList. Each line format is:\n" "%% ID TYPE X Y ORIENTATION SCALE TRACK_STATUS RESPONSE HAS_SIFT [SIFT] HAS_SURF [SURF] HAS_MULTI [MULTI]_i" "%% |---------------------- feature ------------------| |---------------------- descriptors ------------------------|" "%% with:\n" "%% TYPE : The used detector: 0:KLT, 1: Harris, 2: BCD, 3: SIFT, 4: SURF, 5: Beacon, 6: FAST\n" "%% HAS_* : 1 if a descriptor of that type is associated to the feature." "%% SIFT : Present if HAS_SIFT=1: N DESC_0 ... DESC_N-1" "%% SURF : Present if HAS_SURF=1: N DESC_0 ... DESC_N-1" "%% MULTI : Present if HAS_MULTI=1: SCALE ORI N DESC_0 ... DESC_N-1" "%%-------------------------------------------------------------------------------------------\n");. | |
TFeatureType | get_type () const |
Get the type of the feature. | |
void | dumpToTextStream (mrpt::utils::CStream &out) const |
Dump feature information into a text stream. | |
void | dumpToConsole () const |
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. | |
TFeatureTrackStatus | track_status |
Status of the feature tracking process (old name: KLT_status) | |
float | response |
A measure of the "goodness" of the feature (old name: KLT_val) | |
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 (JL says: ?????) | |
uint16_t | nTimesSeen |
Number of frames it has been seen in a sequence of images. | |
uint16_t | nTimesNotSeen |
Number of frames it has not been seen in a sequence of images. | |
uint16_t | nTimesLastSeen |
Number of frames since it was seen for the last time. | |
double | depth |
The estimated depth in 3D of this feature wrt the camera in the current frame. | |
double | initialDepth |
The estimated depth in 3D of this feature wrt the camera that took its image. | |
TPoint3D | p3D |
The estimated 3D point of this feature wrt its camera. | |
deque< double > | multiScales |
A set of scales where the multi-resolution descriptor has been computed. | |
deque< vector< double > > | multiOrientations |
A vector of main orientations (there is a vector of orientations for each scale) | |
deque< vector< vector< int32_t > > > | multiHashCoeffs |
A set of vectors containing the coefficients for a HASH table of descriptors. | |
struct VISION_IMPEXP mrpt::vision::CFeature::TDescriptors | descriptors |
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 |
RTTI stuff | |
typedef CFeaturePtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CFeature |
static mrpt::utils::TRuntimeClassId | classCFeature |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const |
Returns information about the class of an object in runtime. | |
virtual mrpt::utils::CObject * | duplicate () const |
Returns a copy of the object, indepently of its class. | |
static mrpt::utils::CObject * | CreateObject () |
static CFeaturePtr | Create () |
A typedef for the associated smart pointer
Definition at line 126 of file CFeature.h.
mrpt::vision::CFeature::CFeature | ( | ) |
Constructor.
virtual mrpt::vision::CFeature::~CFeature | ( | ) | [inline, virtual] |
Virtual destructor.
Definition at line 250 of file CFeature.h.
static const mrpt::utils::TRuntimeClassId* mrpt::vision::CFeature::_GetBaseClass | ( | ) | [static, protected] |
Reimplemented from mrpt::utils::CSerializable.
static CFeaturePtr mrpt::vision::CFeature::Create | ( | ) | [static] |
static mrpt::utils::CObject* mrpt::vision::CFeature::CreateObject | ( | ) | [static] |
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.
void mrpt::vision::CFeature::dumpToConsole | ( | ) | const |
void mrpt::vision::CFeature::dumpToTextStream | ( | mrpt::utils::CStream & | out | ) | const |
Dump feature information into a text stream.
virtual mrpt::utils::CObject* mrpt::vision::CFeature::duplicate | ( | ) | const [virtual] |
Returns a copy of the object, indepently of its class.
Implements mrpt::utils::CObject.
TFeatureType mrpt::vision::CFeature::get_type | ( | ) | const [inline] |
Get the type of the feature.
Definition at line 238 of file CFeature.h.
bool mrpt::vision::CFeature::getFirstDescriptorAsMatrix | ( | mrpt::math::CMatrixFloat & | desc | ) | const |
Return the first found descriptor, as a matrix.
virtual const mrpt::utils::TRuntimeClassId* mrpt::vision::CFeature::GetRuntimeClass | ( | ) | const [virtual] |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::utils::CSerializable.
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".
bool mrpt::vision::CFeature::isPointFeature | ( | ) | const |
Return false only for Blob detectors (SIFT, SURF)
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).
void mrpt::vision::CFeature::saveToTextFile | ( | const std::string & | filename, |
bool | APPEND = false |
||
) |
Save the feature to a text file in this format: "%% Dump of mrpt::vision::CFeatureList. Each line format is:\n" "%% ID TYPE X Y ORIENTATION SCALE TRACK_STATUS RESPONSE HAS_SIFT [SIFT] HAS_SURF [SURF] HAS_MULTI [MULTI]_i" "%% |---------------------- feature ------------------| |---------------------- descriptors ------------------------|" "%% with:\n" "%% TYPE : The used detector: 0:KLT, 1: Harris, 2: BCD, 3: SIFT, 4: SURF, 5: Beacon, 6: FAST\n" "%% HAS_* : 1 if a descriptor of that type is associated to the feature." "%% SIFT : Present if HAS_SIFT=1: N DESC_0 ... DESC_N-1" "%% SURF : Present if HAS_SURF=1: N DESC_0 ... DESC_N-1" "%% MULTI : Present if HAS_MULTI=1: SCALE ORI N DESC_0 ... DESC_N-1" "%%-------------------------------------------------------------------------------------------\n");.
friend class CFeatureList [friend] |
Definition at line 123 of file CFeature.h.
friend class CMatchedFeatureList [friend] |
Definition at line 124 of file CFeature.h.
mrpt::utils::CLASSINIT mrpt::vision::CFeature::_init_CFeature [static, protected] |
Definition at line 126 of file CFeature.h.
Definition at line 126 of file CFeature.h.
const mrpt::utils::TRuntimeClassId* mrpt::vision::CFeature::classinfo [static] |
Definition at line 126 of file CFeature.h.
The estimated depth in 3D of this feature wrt the camera in the current frame.
Definition at line 143 of file CFeature.h.
struct VISION_IMPEXP mrpt::vision::CFeature::TDescriptors mrpt::vision::CFeature::descriptors |
ID of the feature.
Definition at line 130 of file CFeature.h.
ID of the image from which the feature was extracted (JL says: ?????)
Definition at line 138 of file CFeature.h.
The estimated depth in 3D of this feature wrt the camera that took its image.
Definition at line 144 of file CFeature.h.
deque<vector<vector<int32_t> > > mrpt::vision::CFeature::multiHashCoeffs |
A set of vectors containing the coefficients for a HASH table of descriptors.
Definition at line 148 of file CFeature.h.
deque<vector<double> > mrpt::vision::CFeature::multiOrientations |
A vector of main orientations (there is a vector of orientations for each scale)
Definition at line 147 of file CFeature.h.
deque<double> mrpt::vision::CFeature::multiScales |
A set of scales where the multi-resolution descriptor has been computed.
Definition at line 146 of file CFeature.h.
Number of frames since it was seen for the last time.
Definition at line 141 of file CFeature.h.
Number of frames it has not been seen in a sequence of images.
Definition at line 140 of file CFeature.h.
uint16_t mrpt::vision::CFeature::nTimesSeen |
Number of frames it has been seen in a sequence of images.
Definition at line 139 of file CFeature.h.
Main orientation of the feature.
Definition at line 136 of file CFeature.h.
The estimated 3D point of this feature wrt its camera.
Definition at line 145 of file CFeature.h.
A patch of the image surrounding the feature.
Definition at line 131 of file CFeature.h.
uint16_t mrpt::vision::CFeature::patchSize |
Size of the patch (patchSize x patchSize) (it must be an odd number)
Definition at line 132 of file CFeature.h.
A measure of the "goodness" of the feature (old name: KLT_val)
Definition at line 135 of file CFeature.h.
Feature scale into the scale space.
Definition at line 137 of file CFeature.h.
Status of the feature tracking process (old name: KLT_status)
Definition at line 134 of file CFeature.h.
Type of the feature: featNotDefined, featSIFT, featKLT, featHarris, featSURF, featBeacon.
Definition at line 133 of file CFeature.h.
Definition at line 129 of file CFeature.h.
Coordinates in the image.
Definition at line 129 of file CFeature.h.
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