features.hpp File Reference

Declarations for local feature detection, description and cv::Matching. More...

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

Include dependency graph for features.hpp:

This graph shows which files directly or indirectly include this file:

Go to the source code of this file.

Defines
#define	MATCHING_MODE_NN   0
#define	MATCHING_MODE_NNDR   1
#define	MATCHING_MODE_SVM   2
#define	MAX_DETECTORS   10
Functions
void	assignEigenVectorResponses (const cv::Mat &img, vector< cv::KeyPoint > &pts)
void	assignMinimumRadii (vector< cv::KeyPoint > &pts)
void	assignStabilityResponses (const cv::Mat &img, vector< cv::KeyPoint > &pts)
double	calcDistance (double dist, double ratio, double *coeffs)
	Calculates linear SVM cv::Match distance.
double	calculateFeatureSpeeds (const vector< cv::Point2f > &pts1, const vector< cv::Point2f > &pts2, vector< cv::Point2f > &velocities, double time1, double time2)
	Calculates velocities of features.
void	checkDistances (vector< cv::Point2f > &pts1, vector< cv::Point2f > &pts2, vector< uchar > &statusVec, double distanceConstraint)
bool	checkRoomForFeature (vector< cv::Point2f > &pts, cv::Point2f &candidate, double dist=3.0)
bool	checkSufficientFeatureSpread (vector< cv::Point2f > &pts, cv::Size matSize, int minFeaturesInImage)
	Checks whether there is sufficient spread of features in an image for effective tracking.
void	concatenateWithExistingPoints (vector< cv::Point2f > &pts, vector< cv::Point2f > &kps, int size, double min_sep=3, bool debug=false)
void	constrainMatchingMatrix (cv::Mat &MatchingMatrix, vector< cv::KeyPoint > &kp1, vector< cv::KeyPoint > &kp2, int distanceConstraint, double sizeConstraint=0.0)
bool	constructPatch (cv::Mat &img, cv::Mat &patch, cv::Point2f &center, double radius, int cells=3)
void	createMatchingMatrix (cv::Mat &MatchingMatrix, const cv::Mat &desc1, const cv::Mat &desc2)
	Creates cv::Matrix representing descriptor distance between sets of features.
void	crossCheckMatching (cv::Ptr< cv::DescriptorMatcher > &descriptorMatcher, const cv::Mat &descriptors1, const cv::Mat &descriptors2, vector< cv::DMatch > &filteredMatches12, int knn)
void	displayKeyPoints (const cv::Mat &image, const vector< cv::KeyPoint > &KeyPoints, cv::Mat &outImg, const cv::Scalar &color, int thickness=1, bool pointsOnly=false)
	Prints KeyPoints onto a copy of an image.
void	displayKeyPoints (const cv::Mat &image, const vector< cv::Point2f > &pts, cv::Mat &outImg, cv::Scalar color, int thickness=1, bool pointsOnly=false)
	Prints KeyPoints onto a copy of an image.
double	distanceBetweenPoints (const cv::KeyPoint &pt1, const cv::KeyPoint &pt2)
double	distanceBetweenPoints (const cv::Point2f &pt1, const cv::Point2f &pt2)
void	drawMatchPaths (cv::Mat &src, cv::Mat &dst, vector< cv::KeyPoint > &kp1, vector< cv::KeyPoint > &kp2, vector< vector< cv::DMatch > > &matches1to2)
	Prints cv::Match paths onto a copy of an image, given unfiltered points and cv::Matches structure.
void	drawMatchPaths (cv::Mat &src, cv::Mat &dst, vector< cv::Point2f > &kp1, vector< cv::Point2f > &kp2, const cv::Scalar &color=CV_RGB(255, 0, 0))
	Prints cv::Match paths onto a copy of an image, given vectors containing corresponding points.
void	drawRichKeyPoints (const cv::Mat &src, std::vector< cv::KeyPoint > &kpts, cv::Mat &dst)
double	estimateSalience (cv::Mat &img, cv::Point2f &center, double radius)
double	estimateStability (cv::Mat &img, cv::Point2f &center, double radius)
void	extendKeyPoints (cv::Mat &img, vector< cv::KeyPoint > &pts, bool updateStrength, bool updateLocation)
void	fadeImage (const cv::Mat &src, cv::Mat &dst)
void	filterBlandKeyPoints (cv::Mat &img, vector< cv::KeyPoint > &pts, double thresh=3.0)
void	filterKeyPoints (std::vector< cv::KeyPoint > &kpts, unsigned int maxSize=0, unsigned int maxFeatures=0)
void	filterMatches (vector< vector< cv::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< cv::Point2f > &pts1, vector< cv::Point2f > &pts2, cv::Mat &K, cv::Mat &newCamMat, cv::Mat &distCoeffs, cv::Size &imSize, double prop=1.00)
void	filterVectors (vector< cv::Point2f > &pts1, vector< cv::Point2f > &pts2, vector< uchar > &statusVec, double distanceConstraint=10.0, bool epipolarCheck=false)
double	generateVirtualPointset (const vector< cv::Point2f > &pts1, const vector< cv::Point2f > &pts2, vector< cv::Point2f > &virtual_pts, double bias_fraction=0.5)
double	getPatchVariance (const cv::Mat &patch)
double	getValueFromPatch (cv::Mat &patch)
void	initializeDrawingColors (cv::Scalar *kColors, cv::Scalar *tColors, int num)
void	markAbsentPoints (vector< cv::Point2f > &pts1, vector< cv::Point2f > &pts2, vector< uchar > &statusVec, cv::Size imSize)
void	markBlandTracks (cv::Mat &img, vector< cv::Point2f > &pts, vector< uchar > &statusVec, double thresh=3.0)
void	markEdgyTracks (vector< cv::Point2f > &pts, vector< uchar > &statusVec, cameraParameters &camData)
void	markStationaryPoints (vector< cv::Point2f > &pts1, vector< cv::Point2f > &pts2, vector< uchar > &statusVec)
void	markUnrefinedPoints (vector< cv::Point2f > &pts, vector< uchar > &statusVec)
void	randomlyReducePoints (vector< cv::Point2f > &pts, int maxFeatures)
void	reduceEdgyCandidates (vector< cv::Point2f > &candidates, cameraParameters &camData)
void	reduceEdgyFeatures (vector< cv::KeyPoint > &KeyPoints, cameraParameters &camData)
void	reduceProximalCandidates (vector< cv::Point2f > &existing, vector< cv::Point2f > &candidates)
void	reduceUnrefinedCandidates (vector< cv::Point2f > &candidates)
void	reduceWeakFeatures (cv::Mat &im, vector< cv::KeyPoint > &feats, double minResponse)
double	reweightDistanceWithLinearSVM (double dist, double ratio, double gradient)
	Uses a linear SVM to reweight the cv::Match distances so that they can be more effectively sorted.
void	showMatches (const cv::Mat &pim1, vector< cv::Point2f > &pts1, const cv::Mat &pim2, vector< cv::Point2f > &pts2, cv::Mat &drawImg)
void	sortKeyPoints (vector< cv::KeyPoint > &KeyPoints, unsigned int maxKeyPoints=-1)
	Sorts features in descending order of strength, and culls beyond a certain quantity.
void	sortMatches (vector< vector< cv::DMatch > > &matches1to2)
void	trackPoints (const cv::Mat &im1, const cv::Mat &im2, vector< cv::Point2f > &pts1, vector< cv::Point2f > &pts2, int distanceConstraint, double thresh, vector< unsigned int > &lostIndices, cv::Mat H12=cv::Mat(), cameraParameters camData=cameraParameters())
	Implement optical flow algorithm and filtering.
void	trackPoints2 (const cv::Mat &im1, const cv::Mat &im2, vector< cv::Point2f > &pts1, vector< cv::Point2f > &pts2, int distanceConstraint, double thresh, vector< unsigned int > &lostIndices, const cv::Size patternSize, double &errorThreshold)
	Implement optical flow algorithm and filtering for calibrating stereo cameras.
void	transformPoints (vector< cv::Point2f > &pts1, cv::Mat &H)
	Transforms points using homography.
void	twoWayPriorityMatching (cv::Mat &matchingMatrix, vector< vector< cv::DMatch > > &bestMatches, int mode=MATCHING_MODE_NN)
	cv::Matches features between images given a cv::Matching cv::Matrix

---

Detailed Description

Declarations for local feature detection, description and cv::Matching.

Definition in file features.hpp.

---

Define Documentation

#define MATCHING_MODE_NN   0

Definition at line 20 of file features.hpp.

#define MATCHING_MODE_NNDR   1

Definition at line 21 of file features.hpp.

#define MATCHING_MODE_SVM   2

Definition at line 22 of file features.hpp.

#define MAX_DETECTORS   10

Definition at line 18 of file features.hpp.

---

Function Documentation

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

void assignMinimumRadii

(

vector< cv::KeyPoint > &

pts

)

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

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

Calculates linear SVM cv::Match distance.

Definition at line 1634 of file features.cpp.

double calculateFeatureSpeeds	(	const vector< cv::Point2f > &	pts1,
		const vector< cv::Point2f > &	pts2,
		vector< cv::Point2f > &	velocities,
		double	time1,
		double	time2
	)

Calculates velocities of features.

Definition at line 8 of file features.cpp.

void checkDistances	(	vector< cv::Point2f > &	pts1,
		vector< cv::Point2f > &	pts2,
		vector< uchar > &	statusVec,
		double	distanceConstraint
	)

Definition at line 1775 of file features.cpp.

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

Definition at line 392 of file features.cpp.

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

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

Definition at line 1853 of file features.cpp.

void concatenateWithExistingPoints	(	vector< cv::Point2f > &	pts,
		vector< cv::Point2f > &	kps,
		int	size,
		double	min_sep = 3,
		bool	debug = false
	)

Definition at line 441 of file features.cpp.

void constrainMatchingMatrix	(	cv::Mat &	MatchingMatrix,
		vector< cv::KeyPoint > &	kp1,
		vector< cv::KeyPoint > &	kp2,
		int	distanceConstraint,
		double	sizeConstraint = 0.0
	)

Definition at line 1479 of file features.cpp.

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

Definition at line 1006 of file features.cpp.

void createMatchingMatrix	(	cv::Mat &	MatchingMatrix,
		const cv::Mat &	desc1,
		const cv::Mat &	desc2
	)

Creates cv::Matrix representing descriptor distance between sets of features.

Definition at line 1691 of file features.cpp.

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

Definition at line 259 of file features.cpp.

void displayKeyPoints	(	const cv::Mat &	image,
		const vector< cv::KeyPoint > &	KeyPoints,
		cv::Mat &	outImg,
		const cv::Scalar &	color,
		int	thickness = 1,
		bool	pointsOnly = false
	)

Prints KeyPoints onto a copy of an image.

Definition at line 1228 of file features.cpp.

void displayKeyPoints	(	const cv::Mat &	image,
		const vector< cv::Point2f > &	pts,
		cv::Mat &	outImg,
		cv::Scalar	color,
		int	thickness = 1,
		bool	pointsOnly = false
	)

Prints KeyPoints onto a copy of an image.

Definition at line 1312 of file features.cpp.

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

Definition at line 1462 of file features.cpp.

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

Definition at line 1453 of file features.cpp.

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

Prints cv::Match paths onto a copy of an image, given unfiltered points and cv::Matches structure.

Definition at line 1906 of file features.cpp.

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

Prints cv::Match paths onto a copy of an image, given vectors containing corresponding points.

Definition at line 1889 of file features.cpp.

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

Definition at line 61 of file features.cpp.

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

Definition at line 1077 of file features.cpp.

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

Definition at line 1975 of file features.cpp.

void extendKeyPoints	(	cv::Mat &	img,
		vector< cv::KeyPoint > &	pts,
		bool	updateStrength,
		bool	updateLocation
	)

Definition at line 1046 of file features.cpp.

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

Definition at line 166 of file features.cpp.

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

Definition at line 1190 of file features.cpp.

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

Definition at line 199 of file features.cpp.

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

Definition at line 1429 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 1748 of file features.cpp.

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

Definition at line 316 of file features.cpp.

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

Definition at line 1791 of file features.cpp.

double generateVirtualPointset	(	const vector< cv::Point2f > &	pts1,
		const vector< cv::Point2f > &	pts2,
		vector< cv::Point2f > &	virtual_pts,
		double	bias_fraction = 0.5
	)

Definition at line 32 of file features.cpp.

double getPatchVariance

(

const cv::Mat &

patch

)

Definition at line 2009 of file features.cpp.

double getValueFromPatch

(

cv::Mat &

patch

)

Definition at line 1110 of file features.cpp.

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

Definition at line 466 of file features.cpp.

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

Definition at line 981 of file features.cpp.

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

Definition at line 1160 of file features.cpp.

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

Definition at line 1928 of file features.cpp.

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

Definition at line 1208 of file features.cpp.

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

Definition at line 1139 of file features.cpp.

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

Definition at line 1758 of file features.cpp.

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

Definition at line 372 of file features.cpp.

void reduceEdgyFeatures	(	vector< cv::KeyPoint > &	KeyPoints,
		cameraParameters &	camData
	)

Definition at line 347 of file features.cpp.

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

Definition at line 426 of file features.cpp.

void reduceUnrefinedCandidates

(

vector< cv::Point2f > &

candidates

)

Definition at line 410 of file features.cpp.

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

Definition at line 526 of file features.cpp.

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

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

Definition at line 1642 of file features.cpp.

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

Definition at line 221 of file features.cpp.

void sortKeyPoints	(	vector< cv::KeyPoint > &	KeyPoints,
		unsigned int	maxKeyPoints = -1
	)

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

Definition at line 1357 of file features.cpp.

void sortMatches

(

vector< vector< cv::DMatch > > &

matches1to2

)

Definition at line 1401 of file features.cpp.

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

Implement optical flow algorithm and filtering.

Definition at line 561 of file features.cpp.

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

Implement optical flow algorithm and filtering for calibrating stereo cameras.

Definition at line 913 of file features.cpp.

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

Transforms points using homography.

Definition at line 504 of file features.cpp.

void twoWayPriorityMatching	(	cv::Mat &	matchingMatrix,
		vector< vector< cv::DMatch > > &	bestMatches,
		int	mode = MATCHING_MODE_NN
	)

cv::Matches features between images given a cv::Matching cv::Matrix

Definition at line 1513 of file features.cpp.