Namespaces | |
namespace | pinhole |
Functions related to pinhole camera models, point projections, etc. | |
Classes | |
struct | TCamera |
AJOGD Estructura para almacenar los datos de la camara para MONOSLAM. More... | |
class | CCamModel |
This class represent the camera model for Monocular SLAM. More... | |
class | CFeature |
A generic 2D feature from an image. More... | |
class | CFeatureList |
A list of features. More... | |
class | CMatchedFeatureList |
A list of features. More... | |
class | CFeatureExtraction |
class | CGaussianConvolutionKernel |
This class represents a generic "convolution kernel", that can actually represent any Gaussian or DOG filter. More... | |
class | CImageConvolution |
This class performs filtering on a image based on Gaussian or DOG filters. More... | |
struct | TCaptureOptions_dc1394 |
Options used when creating an dc1394 capture object All but the frame size, framerate, and color_coding can be changed dynamically by CImageGrabber_dc1394::changeCaptureOptions. More... | |
class | CImageGrabber_dc1394 |
A class for grabing images from a IEEE1394 (Firewire) camera using the libdc1394-2 library. More... | |
struct | TCaptureCVOptions |
Options used when creating an OpenCV capture object Some options apply to IEEE1394 cameras only. More... | |
class | CImageGrabber_OpenCV |
A class for grabing images from a "OpenCV"-compatible camera, or from an AVI video file. More... | |
class | CStereoGrabber_Bumblebee |
A class for grabing stereo images from a "Bumblebee" camera NOTE:
| |
class | CStereoImagesTo3D |
A class for processing a pair of stereo images and generateing a disparity image and/or a 3D landmarks map. More... | |
class | CStereoServerBumblebee |
struct | TOdometryOptions |
A structure containing options for the visual odometry. More... | |
class | CVisualOdometryStereo |
Visual odometry for stereo cameras. More... | |
struct | TStereoSystemParams |
Parameters associated to a stereo system. More... | |
struct | TPixelCoordf |
A pair (x,y) of pixel coordinates (subpixel resolution). More... | |
struct | TPixelCoord |
A pair (x,y) of pixel coordinates (integer resolution). More... | |
struct | TROI |
A structure for storing a 3D ROI. More... | |
struct | TImageROI |
A structure for defining a ROI within an image. More... | |
struct | TMatchingOptions |
A structure containing options for the matching. More... | |
struct | 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... | |
Typedefs | |
typedef uint64_t | TFeatureID |
Definition of a feature ID. | |
typedef uint64_t | TLandmarkID |
Landmark ID. | |
typedef std::map< std::string, TImageCalibData > | TCalibrationImageList |
A list of images, used in checkerBoardCameraCalibration. | |
Enumerations | |
enum | TFeatureType { featSIFT, featKLT, featHarris, featSURF, featNotDefined } |
Types of features. More... | |
enum | TKLTFeatureStatus { statusKLT_IDLE, statusKLT_OOB, statusKLT_SMALL_DET, statusKLT_LARGE_RESIDUE, statusKLT_MAX_RESIDUE, statusKLT_TRACKED, statusKLT_MAX_ITERATIONS } |
enum | grabber_dc1394_framerate_t { FRAMERATE_1_875 = 32, FRAMERATE_3_75, FRAMERATE_7_5, FRAMERATE_15, FRAMERATE_30, FRAMERATE_60, FRAMERATE_120, FRAMERATE_240 } |
enum | grabber_dc1394_color_coding_t { COLOR_CODING_MONO8 = 352, COLOR_CODING_YUV411, COLOR_CODING_YUV422, COLOR_CODING_YUV444, COLOR_CODING_RGB8, COLOR_CODING_MONO16 } |
enum | TCameraType { CAMERA_CV_AUTODETECT = 0, CAMERA_CV_DC1394, CAMERA_CV_VFL, CAMERA_CV_VFW, CAMERA_CV_MIL } |
These capture types are like their OpenCV equivalents. More... | |
enum | TColormap { cmGRAYSCALE = 0, cmJET } |
Different colormaps. More... | |
enum | TInterpolationMethod { imNEAREST = 0, imBILINEAR, imBICUBIC, imAREA } |
Interpolation methods (as defined in OpenCV) Used for OpenCV related operations with images, but also with MRPT native classes. More... | |
Functions | |
void MRPTDLLIMPEXP | openCV_cross_correlation (const CMRPTImage &img, const CMRPTImage &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 | flip (CMRPTImage &img) |
Invert an image using OpenCV function. | |
poses::CPoint3D MRPTDLLIMPEXP | pixelTo3D (float x, float y, const CMatrix &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 | buildIntrinsicParamsMatrix (float focalLengthX, float focalLengthY, float centerX, float centerY) |
Builds the intrinsic parameters matrix A from parameters:. | |
CMatrix MRPTDLLIMPEXP | 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 | deleteRepeatedFeats (CFeatureList &list) |
Explore the feature list and removes features which are in the same coordinates. | |
void MRPTDLLIMPEXP | rowChecking (CFeatureList &leftList, CFeatureList &rightList, float threshold=0.0) |
Computes ONLY the SIFT descriptors of a set of features . | |
void MRPTDLLIMPEXP | checkTrackedFeatures (CFeatureList &leftList, CFeatureList &rightList, vision::TMatchingOptions options) |
Search for correspondences which are not in the same row and deletes them | |
void MRPTDLLIMPEXP | getDispersion (const CFeatureList &list, vector_float &std, vector_float &mean) |
Computes the dispersion of the features in the image. | |
void MRPTDLLIMPEXP | trackFeatures (const CMRPTImage &inImg1, const CMRPTImage &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 | filterBadCorrsByDistance (mrpt::slam::CMetricMap::TMatchingPairList &list, unsigned int numberOfSigmas) |
Filter bad correspondences by distance | |
void MRPTDLLIMPEXP | correctDistortion (CMRPTImage &in_img, CMRPTImage &out_img, CMatrix A, CMatrix dist_coeffs) |
Returns a new image where distortion has been removed. | |
void MRPTDLLIMPEXP | 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 | 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 | 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 | 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 | 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 | 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 | computeMainOrientation (const CMRPTImage &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 | matchFeatures (const CFeatureList &list1, const CFeatureList &list2, CMatchedFeatureList &matches, const TMatchingOptions &options=TMatchingOptions()) |
Find the matches between two lists of features. | |
void MRPTDLLIMPEXP | projectMatchedFeatures (CMatchedFeatureList &mfList, const vision::TStereoSystemParams ¶m, mrpt::slam::CLandmarksMap &landmarks) |
Project a list of matched features into the 3D space, using the provided options for the stereo system. | |
bool MRPTDLLIMPEXP | 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) |
Performs a camera calibration (computation of projection and distortion parameters) from a sequence of captured images of a checkerboard. | |
Variables | |
class MRPTDLLIMPEXP | CFeatureList |
class MRPTDLLIMPEXP | CMatchedFeatureList |
typedef std::map<std::string,TImageCalibData> mrpt::vision::TCalibrationImageList |
A list of images, used in checkerBoardCameraCalibration.
Definition at line 533 of file vision/utils.h.
typedef uint64_t mrpt::vision::TFeatureID |
typedef uint64_t mrpt::vision::TLandmarkID |
COLOR_CODING_MONO8 | |
COLOR_CODING_YUV411 | |
COLOR_CODING_YUV422 | |
COLOR_CODING_YUV444 | |
COLOR_CODING_RGB8 | |
COLOR_CODING_MONO16 |
Definition at line 52 of file CImageGrabber_dc1394.h.
FRAMERATE_1_875 | |
FRAMERATE_3_75 | |
FRAMERATE_7_5 | |
FRAMERATE_15 | |
FRAMERATE_30 | |
FRAMERATE_60 | |
FRAMERATE_120 | |
FRAMERATE_240 |
Definition at line 41 of file CImageGrabber_dc1394.h.
These capture types are like their OpenCV equivalents.
Definition at line 41 of file CImageGrabber_OpenCV.h.
Types of features.
Definition at line 47 of file CFeature.h.
Interpolation methods (as defined in OpenCV) Used for OpenCV related operations with images, but also with MRPT native classes.
imNEAREST | No interpolation. |
imBILINEAR | Bilinear interpolation. |
imBICUBIC | Bilinear interpolation. |
imAREA | Resampling using pixel-area relation. |
Definition at line 463 of file vision/utils.h.
Definition at line 66 of file CFeature.h.
CMatrix MRPTDLLIMPEXP mrpt::vision::buildIntrinsicParamsMatrix | ( | float | focalLengthX, | |
float | focalLengthY, | |||
float | centerX, | |||
float | centerY | |||
) |
Builds the intrinsic parameters matrix A from parameters:.
focalLengthX | The focal length, in X (horizontal) pixels | |
focalLengthY | The focal length, in Y (vertical) pixels | |
centerX | The image center, horizontal, in pixels | |
centerY | The image center, vertical, in pixels |
f_x | 0 | cX |
0 | f_y | cY |
0 | 0 | 1 |
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 | |||
) |
Performs a camera calibration (computation of projection and distortion parameters) from a sequence of captured images of a checkerboard.
input_images | [IN/OUT] At input, this list must have one entry for each image to process. At output the original, detected checkboard and rectified images can be found here. See TImageCalibData. | |
check_size_x | [IN] The number of squares in the checkerboard in the X direction. | |
check_size_y | [IN] The number of squares in the checkerboard in the Y direction. | |
check_squares_length_X_meters | [IN] The size of each square in the checkerboard, in meters, in the X axis. | |
check_squares_length_Y_meters | [IN] This will typically be equal to check_squares_length_X_meters. | |
intrinsicParams | [OUT] The 3x3 intrinsic parameters matrix. See http://babel.isa.uma.es/mrpt/index.php/Camera_Parameters | |
distortionParams | [OUT] The 1x4 vector of distortion parameters: k1 k2 p1 p2. See http://babel.isa.uma.es/mrpt/index.php/Camera_Parameters | |
normalize_image | [IN] Select OpenCV flag |
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::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
..
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.
Different colormaps are available.
float MRPTDLLIMPEXP mrpt::vision::computeMainOrientation | ( | const CMRPTImage & | 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).
image | (Input). The input image. | |
x | (Input). A vector containing the 'x' coordinates of the image points. | |
y | (Input). A vector containing the 'y' coordinates of the image points. | |
orientation | (Output). A vector containing the main orientation of the image points. |
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::correctDistortion | ( | CMRPTImage & | in_img, | |
CMRPTImage & | out_img, | |||
CMatrix | A, | |||
CMatrix | dist_coeffs | |||
) |
Returns a new image where distortion has been removed.
A | The 3x3 intrinsic parameters matrix | |
dist_coeffs | The 1x4 vector of distortion coefficients |
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:.
camIndex | Posible values are listed next. | |
resolutionX | The number of pixel columns | |
resolutionY | The number of pixel rows |
| ||||||
| ||||||
void MRPTDLLIMPEXP mrpt::vision::deleteRepeatedFeats | ( | CFeatureList & | list | ) |
Explore the feature list and removes features which are in the same coordinates.
list | (Input). The list of features. |
void MRPTDLLIMPEXP mrpt::vision::filterBadCorrsByDistance | ( | mrpt::slam::CMetricMap::TMatchingPairList & | list, | |
unsigned int | numberOfSigmas | |||
) |
Filter bad correspondences by distance
..
void MRPTDLLIMPEXP mrpt::vision::flip | ( | CMRPTImage & | img | ) |
Invert an image using OpenCV function.
void MRPTDLLIMPEXP mrpt::vision::getDispersion | ( | const CFeatureList & | list, | |
vector_float & | std, | |||
vector_float & | mean | |||
) |
Computes the dispersion of the features in the image.
list | (IN) Inpute list of features | |
std | (OUT) 2 element vector containing the standard deviations in the 'x' and 'y' coordinates. | |
mean | (OUT) 2 element vector containing the mean in the 'x' and 'y' coordinates. |
void MRPTDLLIMPEXP mrpt::vision::hsv2rgb | ( | float | h, | |
float | s, | |||
float | v, | |||
float & | r, | |||
float & | g, | |||
float & | b | |||
) |
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.
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.
They must be of the same type. Return value: the number of matched pairs of features
list1 | (Input). One list. | |
list2 | (Input). Other list. | |
matches | (Output). A vector of pairs of correspondences. | |
options | (Optional Input). A struct containing matching options |
void MRPTDLLIMPEXP mrpt::vision::openCV_cross_correlation | ( | const CMRPTImage & | img, | |
const CMRPTImage & | 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.
patch_img | The "patch" image, which must be equal, or smaller than "this" image. This function supports gray-scale (1 channel only) images. | |
x_search_ini | The "x" coordinate of the search window. | |
y_search_ini | The "y" coordinate of the search window. | |
x_search_size | The width of the search window. | |
y_search_size | The height of the search window. | |
x_max | The x coordinate where found the maximun cross correlation value. | |
y_max | The y coordinate where found the maximun cross correlation value | |
max_val | The maximun value of cross correlation which we can find Note: By default, the search area is the whole (this) image. |
poses::CPoint3D MRPTDLLIMPEXP mrpt::vision::pixelTo3D | ( | float | x, | |
float | y, | |||
const CMatrix & | 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.
x | Pixels coordinates, from the top-left corner of the image. | |
y | Pixels coordinates, from the top-left corner of the image. | |
A | The 3x3 intrinsic parameters matrix for the camera. |
void MRPTDLLIMPEXP mrpt::vision::projectMatchedFeatures | ( | CMatchedFeatureList & | mfList, | |
const vision::TStereoSystemParams & | param, | |||
mrpt::slam::CLandmarksMap & | landmarks | |||
) |
void MRPTDLLIMPEXP mrpt::vision::rgb2hsv | ( | float | r, | |
float | g, | |||
float | b, | |||
float & | h, | |||
float & | s, | |||
float & | v | |||
) |
void MRPTDLLIMPEXP mrpt::vision::rowChecking | ( | CFeatureList & | leftList, | |
CFeatureList & | rightList, | |||
float | threshold = 0.0 | |||
) |
Computes ONLY the SIFT descriptors of a set of features .
.. ... / void computeSiftDescriptors( const CMRPTImage &in_img, CKanadeLucasTomasi::TKLTFeatureList &in_features, TSIFTFeatureList &out_features); / ** Computes a set of features with the SIFT algorithm... ... / void computeSiftFeatures( const CMRPTImage &in_img, TSIFTFeatureList &out_features, int wantedNumberOfFeatures = 150 );
/ ** Search for correspondences which are not in the same row and deletes them ...
void MRPTDLLIMPEXP mrpt::vision::trackFeatures | ( | const CMRPTImage & | inImg1, | |
const CMRPTImage & | inImg2, | |||
vision::CFeatureList & | featureList, | |||
const unsigned int & | window_width = 7 , |
|||
const unsigned int & | window_height = 7 | |||
) |
Tracks a set of features in an image.
class MRPTDLLIMPEXP mrpt::vision::CFeatureList |
Definition at line 39 of file CFeature.h.
class MRPTDLLIMPEXP mrpt::vision::CMatchedFeatureList |
Definition at line 40 of file CFeature.h.
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