/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2015, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

/** \defgroup mrpt_vision_grp [mrpt-vision]

<small> <a href="index.html#libs">Back to list of all libraries</a> | <a href="modules.html" >See all modules</a> </small>
<br>

<h2>Library <code>mrpt-vision</code></h2>
<hr>

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::TSIFTDescriptorsKDTreeIndex, mrpt::vision::find_descriptor_pairings() and others: KD-tree-based SIFT/SURF feature matching.

- 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::obs::CObservationVisualLandmarks)
  and a new type of map (mrpt::maps::CLandmarksMap).

- Notice that sets of parameters for monocular and stereo cameras are defined in [mrpt-base] for convenience, in the classes:
	- mrpt::utils::TCamera
	- mrpt::utils::TStereoCamera
	
- mrpt::vision::CDifodo: A class which implements a Visual Odometry algorithm based on depth images and the "range flow constraint equation".

See all the classes in mrpt::vision


*/

