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lib_mrpt_vision.h
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1/* +---------------------------------------------------------------------------+
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5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
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8 +---------------------------------------------------------------------------+ */
9
10/** \defgroup mrpt_vision_grp [mrpt-vision]
11
12<small> <a href="index.html#libs">Back to list of all libraries</a> | <a href="modules.html" >See all modules</a> </small>
13<br>
14
15<h2>Library <code>mrpt-vision</code></h2>
16<hr>
17
18This library includes some extensions to OpenCV functionality, plus some
19original classes:
20
21- The namespace mrpt::vision::pinhole contains several projection and Jacobian auxiliary functions for projective cameras.
22
23- Sparse Bundle Adjustment algorithms. Implemented versions are:
24 - mrpt::vision::bundle_adj_full : Levenberg-Marquart full optimization of camera frames (6D) + feature points (3D).
25
26- A versatile feature tracker. See mrpt::vision::CGenericFeatureTracker and the implementation mrpt::vision::CFeatureTracker_KL
27
28- mrpt::vision::CFeature: A generic representation of a visual feature, with or without
29patch, with or without a set of descriptors.
30
31- mrpt::vision::CFeatureExtraction: A hub for a number of detection algorithms and
32 different descriptors.
33
34- mrpt::vision::TSIFTDescriptorsKDTreeIndex, mrpt::vision::find_descriptor_pairings() and others: KD-tree-based SIFT/SURF feature matching.
35
36- mrpt::vision::CVideoFileWriter: A class to write video files.
37
38- mrpt::vision::CUndistortMap: A cache of the map for undistorting image, very efficient for sequences of images all with the same distortion parameters.
39
40- This library defines a new type of observation (mrpt::obs::CObservationVisualLandmarks)
41 and a new type of map (mrpt::maps::CLandmarksMap).
42
43- Notice that sets of parameters for monocular and stereo cameras are defined in [mrpt-base] for convenience, in the classes:
44 - mrpt::utils::TCamera
45 - mrpt::utils::TStereoCamera
46
47- mrpt::vision::CDifodo: A class which implements a Visual Odometry algorithm based on depth images and the "range flow constraint equation".
48
49See all the classes in mrpt::vision
50
51
52*/
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