A complete sequence of observations of features from different camera frames (poses).
This structure is the input to some (Bundle-adjustment) methods in mrpt::vision
Definition at line 87 of file vision/include/mrpt/vision/types.h.
#include <mrpt/vision/types.h>
Public Types | ||||
typedef std::vector < TFeatureObservation > | BASE | |||
Public Member Functions | ||||
TSequenceFeatureObservations () | ||||
TSequenceFeatureObservations (size_t size) | ||||
TSequenceFeatureObservations (const TSequenceFeatureObservations &o) | ||||
void | saveToTextFile (const std::string &filName, bool skipFirstCommentLine=false) const | |||
Saves all entries to a text file, with each line having this format: FRAME_ID FEAT_ID PIXEL_X PIXEL_Y The file is self-descripting, since the first line contains a comment line (starting with '') explaining the format. | ||||
void | loadFromTextFile (const std::string &filName) | |||
Load from a text file, in the format described in saveToTextFile
| ||||
size_t | removeFewObservedFeatures (size_t minNumObservations=3) | |||
Remove all those features that don't have a minimum number of observations from different camera frame IDs. | ||||
void | decimateCameraFrames (const size_t decimate_ratio) | |||
Remove all but one out of decimate_ratio camera frame IDs from the list (eg: from N camera pose IDs at return there will be just N/decimate_ratio) The algorithm first builds a sorted list of frame IDs, then keep the lowest ID, remove the next "decimate_ratio-1", and so on. | ||||
void | compressIDs (std::map< TCameraPoseID, TCameraPoseID > *old2new_camIDs=NULL, std::map< TLandmarkID, TLandmarkID > *old2new_lmIDs=NULL) | |||
Rearrange frame and feature IDs such as they start at 0 and there are no gaps. |
typedef std::vector<TFeatureObservation> mrpt::vision::TSequenceFeatureObservations::BASE |
Definition at line 89 of file vision/include/mrpt/vision/types.h.
mrpt::vision::TSequenceFeatureObservations::TSequenceFeatureObservations | ( | ) | [inline] |
Definition at line 91 of file vision/include/mrpt/vision/types.h.
mrpt::vision::TSequenceFeatureObservations::TSequenceFeatureObservations | ( | size_t | size | ) | [inline] |
Definition at line 92 of file vision/include/mrpt/vision/types.h.
mrpt::vision::TSequenceFeatureObservations::TSequenceFeatureObservations | ( | const TSequenceFeatureObservations & | o | ) | [inline] |
Definition at line 93 of file vision/include/mrpt/vision/types.h.
void mrpt::vision::TSequenceFeatureObservations::compressIDs | ( | std::map< TCameraPoseID, TCameraPoseID > * | old2new_camIDs = NULL , |
|
std::map< TLandmarkID, TLandmarkID > * | old2new_lmIDs = NULL | |||
) |
Rearrange frame and feature IDs such as they start at 0 and there are no gaps.
old2new_camIDs | If provided, the mapping from old to new IDs is stored here. | |
old2new_lmIDs | If provided, the mapping from old to new IDs is stored here. |
void mrpt::vision::TSequenceFeatureObservations::decimateCameraFrames | ( | const size_t | decimate_ratio | ) |
Remove all but one out of decimate_ratio camera frame IDs from the list (eg: from N camera pose IDs at return there will be just N/decimate_ratio) The algorithm first builds a sorted list of frame IDs, then keep the lowest ID, remove the next "decimate_ratio-1", and so on.
void mrpt::vision::TSequenceFeatureObservations::loadFromTextFile | ( | const std::string & | filName | ) |
Load from a text file, in the format described in saveToTextFile
std::exception | On I/O or format error. |
size_t mrpt::vision::TSequenceFeatureObservations::removeFewObservedFeatures | ( | size_t | minNumObservations = 3 |
) |
Remove all those features that don't have a minimum number of observations from different camera frame IDs.
void mrpt::vision::TSequenceFeatureObservations::saveToTextFile | ( | const std::string & | filName, | |
bool | skipFirstCommentLine = false | |||
) | const |
Saves all entries to a text file, with each line having this format: FRAME_ID FEAT_ID PIXEL_X PIXEL_Y The file is self-descripting, since the first line contains a comment line (starting with '') explaining the format.
Generated files can be loaded from MATLAB.
std::exception | On I/O error |
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