Library overview: mrpt-vision

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mrpt-vision

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This library includes some extensions to OpenCV functionality, plus some original classes:

• The namespace mrpt::vision::pinhole contains several projection and Jacobian auxiliary functions for projective cameras.

• Sparse Bundle Adjustment algorithms. Implemented versions are:
  • mrpt::vision::bundle_adj_full : Levenberg-Marquart full optimization of camera frames (6D) + feature points (3D).

• A versatile feature tracker. See mrpt::vision::CGenericFeatureTracker and the implementation mrpt::vision::CFeatureTracker_KL

• mrpt::vision::CFeature: A generic representation of a visual feature, with or without patch, with or without a set of descriptors.

• mrpt::vision::CFeatureExtraction: A hub for a number of detection algorithms and different descriptors.

• mrpt::vision::CVideoFileWriter: A class to write video files.

• mrpt::vision::CUndistortMap: A cache of the map for undistorting image, very efficient for sequences of images all with the same distortion parameters.

• This library defines a new type of observation (mrpt::slam::CObservationVisualLandmarks) and a new type of map (mrpt::slam::CLandmarksMap).

See all the classes in mrpt::vision