features.hpp File Reference

Declarations for local feature detection, description and matching. More...

#include "general_resources.hpp"
#include "opencv_resources.hpp"
#include "improc.hpp"
#include "tools.hpp"
#include "camera.hpp"
#include <algorithm>

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Defines
#define	MAX_DETECTORS   10
Functions
void	assignEigenVectorResponses (const Mat &img, vector< KeyPoint > &pts)
void	assignMinimumRadii (vector< KeyPoint > &pts)
void	assignStabilityResponses (const Mat &img, vector< KeyPoint > &pts)
double	calcDistance (double dist, double ratio, double *coeffs)
	Calculates linear SVM match distance.
bool	checkRoomForFeature (vector< Point2f > &pts, Point2f &candidate, double dist=3.0)
bool	checkSufficientFeatureSpread (vector< Point2f > &pts, Size matSize, int minFeaturesInImage)
	Checks whether there is sufficient spread of features in an image for effective tracking.
void	concatenateWithExistingPoints (vector< Point2f > &pts, vector< Point2f > &kps, int size, double min_sep=3)
void	constrainMatchingMatrix (Mat &matchingMatrix, vector< KeyPoint > &kp1, vector< KeyPoint > &kp2, int distanceConstraint, double sizeConstraint)
bool	constructPatch (Mat &img, Mat &patch, Point2f &center, double radius, int cells=3)
void	createMatchingMatrix (Mat &matchingMatrix, const Mat &desc1, const Mat &desc2)
	Creates matrix representing descriptor distance between sets of features.
void	crossCheckMatching (Ptr< DescriptorMatcher > &descriptorMatcher, const Mat &descriptors1, const Mat &descriptors2, vector< DMatch > &filteredMatches12, int knn)
void	displayKeypoints (const Mat &image, const vector< Point2f > &pts, Mat &outImg, const Scalar &color, int thickness=1)
	Prints keypoints onto a copy of an image.
void	displayKeypoints (const Mat &image, const vector< KeyPoint > &keypoints, Mat &outImg, const Scalar &color, int thickness=1)
	Prints keypoints onto a copy of an image.
double	distanceBetweenPoints (const Point2f &pt1, const Point2f &pt2)
double	distanceBetweenPoints (const KeyPoint &pt1, const KeyPoint &pt2)
void	drawMatchPaths (Mat &src, Mat &dst, vector< Point2f > &kp1, vector< Point2f > &kp2, const Scalar &color=CV_RGB(255, 0, 0))
	Prints match paths onto a copy of an image, given vectors containing corresponding points.
void	drawMatchPaths (Mat &src, Mat &dst, vector< KeyPoint > &kp1, vector< KeyPoint > &kp2, vector< vector< DMatch > > &matches1to2)
	Prints match paths onto a copy of an image, given unfiltered points and matches structure.
void	drawRichKeypoints (const cv::Mat &src, std::vector< cv::KeyPoint > &kpts, cv::Mat &dst)
double	estimateSalience (Mat &img, Point2f &center, double radius)
double	estimateStability (Mat &img, Point2f &center, double radius)
void	extendKeypoints (Mat &img, vector< KeyPoint > &pts, bool updateStrength, bool updateLocation)
void	fadeImage (const Mat &src, Mat &dst)
void	filterBlandKeypoints (Mat &img, vector< KeyPoint > &pts, double thresh=3.0)
void	filterKeypoints (std::vector< cv::KeyPoint > &kpts, int maxSize=0, int maxFeatures=0)
void	filterMatches (vector< vector< DMatch > > &matches1to2, double threshold)
void	filterTrackedPoints (vector< uchar > &statusVec, vector< float > &err, double maxError)
	Sets flags to zero for tracked features that have too high an error.
void	filterTrackingsByRadialProportion (vector< Point2f > &pts1, vector< Point2f > &pts2, Mat &K, Mat &newCamMat, Mat &distCoeffs, Size &imSize, double prop=1.00)
void	filterVectors (vector< Point2f > &pts1, vector< Point2f > &pts2, vector< uchar > &statusVec, double distanceConstraint=10.0, bool epipolarCheck=false)
double	getPatchVariance (const Mat &patch)
double	getValueFromPatch (Mat &patch)
void	initializeDrawingColors (Scalar *kColors, Scalar *tColors, int num)
void	markAbsentPoints (vector< Point2f > &pts1, vector< Point2f > &pts2, vector< uchar > &statusVec, cv::Size imSize)
void	markBlandTracks (Mat &img, vector< Point2f > &pts, vector< uchar > &statusVec, double thresh=3.0)
void	markEdgyTracks (vector< Point2f > &pts, vector< uchar > &statusVec, cameraParameters &camData)
void	markStationaryPoints (vector< Point2f > &pts1, vector< Point2f > &pts2, vector< uchar > &statusVec)
void	markUnrefinedPoints (vector< Point2f > &pts, vector< uchar > &statusVec)
void	randomlyReducePoints (vector< Point2f > &pts, int maxFeatures)
void	reduceEdgyCandidates (vector< Point2f > &candidates, cameraParameters &camData)
void	reduceEdgyFeatures (vector< KeyPoint > &keypoints, cameraParameters &camData)
void	reduceProximalCandidates (vector< Point2f > &existing, vector< Point2f > &candidates)
void	reduceUnrefinedCandidates (vector< Point2f > &candidates)
void	reduceWeakFeatures (Mat &im, vector< KeyPoint > &feats, double minResponse)
double	reweightDistanceWithLinearSVM (double dist, double ratio, double gradient)
	Uses a linear SVM to reweight the match distances so that they can be more effectively sorted.
void	showMatches (const Mat &pim1, vector< Point2f > &pts1, const Mat &pim2, vector< Point2f > &pts2, Mat &drawImg)
void	sortKeypoints (vector< KeyPoint > &keypoints, unsigned int maxKeypoints=-1)
	Sorts features in descending order of strength, and culls beyond a certain quantity.
void	sortMatches (vector< vector< DMatch > > &matches1to2)
void	trackPoints (const Mat &im1, const Mat &im2, vector< Point2f > &pts1, vector< Point2f > &pts2, int distanceConstraint, double thresh, vector< unsigned int > &lostIndices, Mat H12=cv::Mat(), cameraParameters camData=cameraParameters())
	Implement optical flow algorithm and filtering.
void	trackPoints2 (const Mat &im1, const Mat &im2, vector< Point2f > &pts1, vector< Point2f > &pts2, int distanceConstraint, double thresh, vector< unsigned int > &lostIndices, const Size patternSize, double &errorThreshold)
	Implement optical flow algorithm and filtering for calibrating stereo cameras.
void	transformPoints (vector< Point2f > &pts1, Mat &H)
	Transforms points using homography.
void	twoWayPriorityMatching (Mat &matchingMatrix, vector< vector< DMatch > > &bestMatches)
	Matches features between images given a matching matrix.

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Detailed Description

Declarations for local feature detection, description and matching.

Definition in file features.hpp.

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Define Documentation

#define MAX_DETECTORS   10

Definition at line 18 of file features.hpp.

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Function Documentation

void assignEigenVectorResponses	(	const Mat &	img,
		vector< KeyPoint > &	pts
	)

void assignMinimumRadii

(

vector< KeyPoint > &

pts

)

void assignStabilityResponses	(	const Mat &	img,
		vector< KeyPoint > &	pts
	)

double calcDistance	(	double	dist,
		double	ratio,
		double *	coeffs
	)

Calculates linear SVM match distance.

Definition at line 1500 of file features.cpp.

bool checkRoomForFeature	(	vector< Point2f > &	pts,
		Point2f &	candidate,
		double	dist = 3.0
	)

Definition at line 341 of file features.cpp.

bool checkSufficientFeatureSpread	(	vector< Point2f > &	pts,
		Size	matSize,
		int	minFeaturesInImage
	)

Checks whether there is sufficient spread of features in an image for effective tracking.

Definition at line 1691 of file features.cpp.

void concatenateWithExistingPoints	(	vector< Point2f > &	pts,
		vector< Point2f > &	kps,
		int	size,
		double	min_sep = 3
	)

Definition at line 390 of file features.cpp.

void constrainMatchingMatrix	(	Mat &	matchingMatrix,
		vector< KeyPoint > &	kp1,
		vector< KeyPoint > &	kp2,
		int	distanceConstraint,
		double	sizeConstraint
	)

Definition at line 1355 of file features.cpp.

bool constructPatch	(	Mat &	img,
		Mat &	patch,
		Point2f &	center,
		double	radius,
		int	cells = 3
	)

Definition at line 893 of file features.cpp.

void createMatchingMatrix	(	Mat &	matchingMatrix,
		const Mat &	desc1,
		const Mat &	desc2
	)

Creates matrix representing descriptor distance between sets of features.

Definition at line 1557 of file features.cpp.

void crossCheckMatching	(	Ptr< DescriptorMatcher > &	descriptorMatcher,
		const Mat &	descriptors1,
		const Mat &	descriptors2,
		vector< DMatch > &	filteredMatches12,
		int	knn
	)

Definition at line 208 of file features.cpp.

void displayKeypoints	(	const Mat &	image,
		const vector< Point2f > &	pts,
		Mat &	outImg,
		const Scalar &	color,
		int	thickness = 1
	)

Prints keypoints onto a copy of an image.

Definition at line 1193 of file features.cpp.

void displayKeypoints	(	const Mat &	image,
		const vector< KeyPoint > &	keypoints,
		Mat &	outImg,
		const Scalar &	color,
		int	thickness = 1
	)

Prints keypoints onto a copy of an image.

Definition at line 1115 of file features.cpp.

double distanceBetweenPoints	(	const Point2f &	pt1,
		const Point2f &	pt2
	)

Definition at line 1329 of file features.cpp.

double distanceBetweenPoints	(	const KeyPoint &	pt1,
		const KeyPoint &	pt2
	)

Definition at line 1338 of file features.cpp.

void drawMatchPaths	(	Mat &	src,
		Mat &	dst,
		vector< Point2f > &	kp1,
		vector< Point2f > &	kp2,
		const Scalar &	color = CV_RGB(255, 0, 0)
	)

Prints match paths onto a copy of an image, given vectors containing corresponding points.

Definition at line 1727 of file features.cpp.

void drawMatchPaths	(	Mat &	src,
		Mat &	dst,
		vector< KeyPoint > &	kp1,
		vector< KeyPoint > &	kp2,
		vector< vector< DMatch > > &	matches1to2
	)

Prints match paths onto a copy of an image, given unfiltered points and matches structure.

Definition at line 1744 of file features.cpp.

void drawRichKeypoints	(	const cv::Mat &	src,
		std::vector< cv::KeyPoint > &	kpts,
		cv::Mat &	dst
	)

Definition at line 10 of file features.cpp.

double estimateSalience	(	Mat &	img,
		Point2f &	center,
		double	radius
	)

Definition at line 964 of file features.cpp.

double estimateStability	(	Mat &	img,
		Point2f &	center,
		double	radius
	)

Definition at line 1835 of file features.cpp.

void extendKeypoints	(	Mat &	img,
		vector< KeyPoint > &	pts,
		bool	updateStrength,
		bool	updateLocation
	)

Definition at line 933 of file features.cpp.

void fadeImage	(	const Mat &	src,
		Mat &	dst
	)

Definition at line 115 of file features.cpp.

void filterBlandKeypoints	(	Mat &	img,
		vector< KeyPoint > &	pts,
		double	thresh = 3.0
	)

Definition at line 1077 of file features.cpp.

void filterKeypoints	(	std::vector< cv::KeyPoint > &	kpts,
		int	maxSize = 0,
		int	maxFeatures = 0
	)

Definition at line 148 of file features.cpp.

void filterMatches	(	vector< vector< DMatch > > &	matches1to2,
		double	threshold
	)

Definition at line 1305 of file features.cpp.

void filterTrackedPoints	(	vector< uchar > &	statusVec,
		vector< float > &	err,
		double	maxError
	)

Sets flags to zero for tracked features that have too high an error.

Definition at line 1614 of file features.cpp.

void filterTrackingsByRadialProportion	(	vector< Point2f > &	pts1,
		vector< Point2f > &	pts2,
		Mat &	K,
		Mat &	newCamMat,
		Mat &	distCoeffs,
		Size &	imSize,
		double	prop = 1.00
	)

Definition at line 265 of file features.cpp.

void filterVectors	(	vector< Point2f > &	pts1,
		vector< Point2f > &	pts2,
		vector< uchar > &	statusVec,
		double	distanceConstraint = 10.0,
		bool	epipolarCheck = false
	)

Definition at line 1641 of file features.cpp.

double getPatchVariance

(

const Mat &

patch

)

Definition at line 1869 of file features.cpp.

double getValueFromPatch

(

Mat &

patch

)

Definition at line 997 of file features.cpp.

void initializeDrawingColors	(	Scalar *	kColors,
		Scalar *	tColors,
		int	num
	)

Definition at line 414 of file features.cpp.

void markAbsentPoints	(	vector< Point2f > &	pts1,
		vector< Point2f > &	pts2,
		vector< uchar > &	statusVec,
		cv::Size	imSize
	)

Definition at line 868 of file features.cpp.

void markBlandTracks	(	Mat &	img,
		vector< Point2f > &	pts,
		vector< uchar > &	statusVec,
		double	thresh = 3.0
	)

Definition at line 1047 of file features.cpp.

void markEdgyTracks	(	vector< Point2f > &	pts,
		vector< uchar > &	statusVec,
		cameraParameters &	camData
	)

Definition at line 1788 of file features.cpp.

void markStationaryPoints	(	vector< Point2f > &	pts1,
		vector< Point2f > &	pts2,
		vector< uchar > &	statusVec
	)

Definition at line 1095 of file features.cpp.

void markUnrefinedPoints	(	vector< Point2f > &	pts,
		vector< uchar > &	statusVec
	)

Definition at line 1026 of file features.cpp.

void randomlyReducePoints	(	vector< Point2f > &	pts,
		int	maxFeatures
	)

Definition at line 1624 of file features.cpp.

void reduceEdgyCandidates	(	vector< Point2f > &	candidates,
		cameraParameters &	camData
	)

Definition at line 321 of file features.cpp.

void reduceEdgyFeatures	(	vector< KeyPoint > &	keypoints,
		cameraParameters &	camData
	)

Definition at line 296 of file features.cpp.

void reduceProximalCandidates	(	vector< Point2f > &	existing,
		vector< Point2f > &	candidates
	)

Definition at line 375 of file features.cpp.

void reduceUnrefinedCandidates

(

vector< Point2f > &

candidates

)

Definition at line 359 of file features.cpp.

void reduceWeakFeatures	(	Mat &	im,
		vector< KeyPoint > &	feats,
		double	minResponse
	)

Definition at line 474 of file features.cpp.

double reweightDistanceWithLinearSVM	(	double	dist,
		double	ratio,
		double	gradient
	)

Uses a linear SVM to reweight the match distances so that they can be more effectively sorted.

Definition at line 1508 of file features.cpp.

void showMatches	(	const Mat &	pim1,
		vector< Point2f > &	pts1,
		const Mat &	pim2,
		vector< Point2f > &	pts2,
		Mat &	drawImg
	)

Definition at line 170 of file features.cpp.

void sortKeypoints	(	vector< KeyPoint > &	keypoints,
		unsigned int	maxKeypoints = -1
	)

Sorts features in descending order of strength, and culls beyond a certain quantity.

Definition at line 1233 of file features.cpp.

void sortMatches

(

vector< vector< DMatch > > &

matches1to2

)

Definition at line 1277 of file features.cpp.

void trackPoints	(	const Mat &	im1,
		const Mat &	im2,
		vector< Point2f > &	pts1,
		vector< Point2f > &	pts2,
		int	distanceConstraint,
		double	thresh,
		vector< unsigned int > &	lostIndices,
		Mat	H12 = cv::Mat(),
		cameraParameters	camData = cameraParameters()
	)

Implement optical flow algorithm and filtering.

Definition at line 509 of file features.cpp.

void trackPoints2	(	const Mat &	im1,
		const Mat &	im2,
		vector< Point2f > &	pts1,
		vector< Point2f > &	pts2,
		int	distanceConstraint,
		double	thresh,
		vector< unsigned int > &	lostIndices,
		const Size	patternSize,
		double &	errorThreshold
	)

Implement optical flow algorithm and filtering for calibrating stereo cameras.

Definition at line 801 of file features.cpp.

void transformPoints	(	vector< Point2f > &	pts1,
		Mat &	H
	)

Transforms points using homography.

Definition at line 452 of file features.cpp.

void twoWayPriorityMatching	(	Mat &	matchingMatrix,
		vector< vector< DMatch > > &	bestMatches
	)

Matches features between images given a matching matrix.

Definition at line 1388 of file features.cpp.