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Public Member Functions | Protected Member Functions | Protected Attributes | Private Attributes
ccny_rgbd::FeatureDetector Class Reference

Base class for sparse feature extractors. More...

#include <feature_detector.h>

Inheritance diagram for ccny_rgbd::FeatureDetector:
Inheritance graph
[legend]

List of all members.

Public Member Functions

 FeatureDetector ()
 Default constructor.
void findFeatures (RGBDFrame &frame)
 Main function to call to detect the sparse features in an RGBDFrame and fill out the corresponding information.
double getMaxRange () const
 Returns the maximum allowed z-depth (in meters) for features.
double getMaxStDev () const
 Returns the maximum allowed std_dev(z) (in meters) for features.
int getSmooth () const
 Returns the smoothing size.
void setMaxRange (double max_range)
 Sets the maximum allowed z-depth (in meters) for features.
void setMaxStDev (double max_stdev)
 Sets the maximum allowed std_dev(z) (in meters) for features.
void setSmooth (int smooth)
 Sets the smoothing size.
virtual ~FeatureDetector ()
 Default destructor.

Protected Member Functions

virtual void findFeatures (RGBDFrame &frame, const cv::Mat &input_img)=0
 Implementation of the feature detector.

Protected Attributes

bool compute_descriptors_
 whether to calculate feature descriptors
boost::mutex mutex_
 state mutex

Private Attributes

double max_range_
 maximum allowed z-depth (in meters) for features
double max_stdev_
 maximum allowed std_dev(z) (in meters) for features
int smooth_
 blurring size (blur winddow = smooth*2 + 1)

Detailed Description

Base class for sparse feature extractors.

Definition at line 39 of file feature_detector.h.


Constructor & Destructor Documentation

Default constructor.

Definition at line 28 of file feature_detector.cpp.

Default destructor.

Definition at line 34 of file feature_detector.cpp.


Member Function Documentation

Main function to call to detect the sparse features in an RGBDFrame and fill out the corresponding information.

Parameters:
framethe input frame

Definition at line 39 of file feature_detector.cpp.

virtual void ccny_rgbd::FeatureDetector::findFeatures ( RGBDFrame frame,
const cv::Mat &  input_img 
) [protected, pure virtual]

Implementation of the feature detector.

Parameters:
framethe input frame
input_imgthe image for feature detection, derived from the RGB image of the frame after (optional) blurring

Implemented in ccny_rgbd::GftDetector, ccny_rgbd::SurfDetector, ccny_rgbd::StarDetector, and ccny_rgbd::OrbDetector.

double ccny_rgbd::FeatureDetector::getMaxRange ( ) const [inline]

Returns the maximum allowed z-depth (in meters) for features.

Returns:
maximum allowed z-depth (in meters) for features

Definition at line 83 of file feature_detector.cpp.

double ccny_rgbd::FeatureDetector::getMaxStDev ( ) const [inline]

Returns the maximum allowed std_dev(z) (in meters) for features.

Returns:
maximum allowed std_dev(z) (in meters) for features

Definition at line 88 of file feature_detector.cpp.

int ccny_rgbd::FeatureDetector::getSmooth ( ) const [inline]

Returns the smoothing size.

Smoothing is performed using Gaussian bluring in a window of size smooth*2 + 1

If smooth is set to 0, then no blurring will take place

Returns:
smoothing window size

Definition at line 78 of file feature_detector.cpp.

void ccny_rgbd::FeatureDetector::setMaxRange ( double  max_range)

Sets the maximum allowed z-depth (in meters) for features.

Parameters:
max_rangemaximum allowed z-depth (in meters) for features

Definition at line 68 of file feature_detector.cpp.

void ccny_rgbd::FeatureDetector::setMaxStDev ( double  max_stdev)

Sets the maximum allowed std_dev(z) (in meters) for features.

Parameters:
max_stdevmaximum allowed std_dev(z) (in meters) for features

Definition at line 73 of file feature_detector.cpp.

Sets the smoothing size.

Smoothing is performed using Gaussian bluring in a window of size smooth*2 + 1

If smooth is set to 0, then no blurring will take place

Parameters:
smoothsmoothing window size

Definition at line 63 of file feature_detector.cpp.


Member Data Documentation

whether to calculate feature descriptors

Definition at line 103 of file feature_detector.h.

maximum allowed z-depth (in meters) for features

Definition at line 115 of file feature_detector.h.

maximum allowed std_dev(z) (in meters) for features

Definition at line 116 of file feature_detector.h.

boost::mutex ccny_rgbd::FeatureDetector::mutex_ [protected]

state mutex

Definition at line 101 of file feature_detector.h.

blurring size (blur winddow = smooth*2 + 1)

Definition at line 114 of file feature_detector.h.


The documentation for this class was generated from the following files:
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ccny_rgbd
Author(s): Ivan Dryanovski
autogenerated on Fri Apr 12 2013 20:38:48