One level of a Gaussian image pyramid. More...
#include <pyramid_level.hpp>
Public Member Functions | |
| const uint8_t * | getDescriptor (int i) const |
| const int * | getDescriptorIndexOffsets () const |
| int | getDescriptorLength () const |
| int | getDescriptorStride () const |
| const uint8_t * | getGrayscaleImage () const |
| int | getGrayscaleImageStride () const |
| int | getHeight () const |
| const std::vector< KeyPoint > & | getInitialFeatures () const |
| const KeyPoint & | getKeypoint (int i) const |
| const KeypointData * | getKeypointData (int i) const |
| KeypointData * | getKeypointData (int i) |
| float | getKeypointRectBaseU (int kp_index) const |
| const Eigen::Vector2d & | getKeypointRectBaseUV (int kp_index) const |
| float | getKeypointRectBaseV (int kp_index) const |
| const Eigen::Vector4d & | getKeypointXYZW (int i) const |
| int | getLevelNum () const |
| int | getNumDetectedKeypoints () const |
| int | getNumKeypoints () const |
| int | getWidth () const |
| bool | isLegalKeypointCoordinate (float x, float y) const |
| void | populateDescriptorAligned (int x, int y, uint8_t *descriptor) const |
| void | populateDescriptorInterp (float x, float y, uint8_t *descriptor) const |
| void | populateDescriptorsAligned (const KeypointData *keypoints, int num_keypoints, uint8_t *descriptors) const |
| void | populateDescriptorsInterp (const KeypointData *keypoints, int num_keypoints, uint8_t *descriptors) const |
| PyramidLevel (int width, int height, int level_num, int feature_window_size, GridKeyPointFilter &grid_filter) | |
| ~PyramidLevel () | |
Private Member Functions | |
| void | increase_capacity (int new_capacity) |
Private Attributes | |
| IntensityDescriptorExtractor * | _descriptor_extractor |
| uint8_t * | _descriptors |
| GridKeyPointFilter | _grid_filter |
| int | _height |
| std::vector< KeyPoint > | _initial_keypoints |
| int | _keypoint_max_x |
| int | _keypoint_max_y |
| int | _keypoint_min_x |
| int | _keypoint_min_y |
| KeypointData * | _keypoints |
| int | _keypoints_capacity |
| int | _level_num |
| int | _num_detected_keypoints |
| int | _num_keypoints |
| uint8_t * | _pyrbuf |
| uint8_t * | _raw_gray |
| int | _raw_gray_stride |
| int | _width |
Friends | |
| class | OdometryFrame |
| class | StereoFrame |
| fovis::PyramidLevel::PyramidLevel | ( | int | width, |
| int | height, | ||
| int | level_num, | ||
| int | feature_window_size, | ||
| GridKeyPointFilter & | grid_filter | ||
| ) |
Definition at line 15 of file pyramid_level.cpp.
Definition at line 76 of file pyramid_level.cpp.
| const uint8_t* fovis::PyramidLevel::getDescriptor | ( | int | i | ) | const [inline] |
Definition at line 36 of file pyramid_level.hpp.
| const int* fovis::PyramidLevel::getDescriptorIndexOffsets | ( | ) | const [inline] |
Definition at line 103 of file pyramid_level.hpp.
| int fovis::PyramidLevel::getDescriptorLength | ( | ) | const [inline] |
Definition at line 49 of file pyramid_level.hpp.
| int fovis::PyramidLevel::getDescriptorStride | ( | ) | const [inline] |
Definition at line 41 of file pyramid_level.hpp.
| const uint8_t* fovis::PyramidLevel::getGrayscaleImage | ( | ) | const [inline] |
Definition at line 28 of file pyramid_level.hpp.
| int fovis::PyramidLevel::getGrayscaleImageStride | ( | ) | const [inline] |
Definition at line 32 of file pyramid_level.hpp.
| int fovis::PyramidLevel::getHeight | ( | ) | const [inline] |
Definition at line 96 of file pyramid_level.hpp.
| const std::vector<KeyPoint>& fovis::PyramidLevel::getInitialFeatures | ( | ) | const [inline] |
Definition at line 107 of file pyramid_level.hpp.
| const KeyPoint& fovis::PyramidLevel::getKeypoint | ( | int | i | ) | const [inline] |
Definition at line 53 of file pyramid_level.hpp.
| const KeypointData* fovis::PyramidLevel::getKeypointData | ( | int | i | ) | const [inline] |
Definition at line 73 of file pyramid_level.hpp.
| KeypointData* fovis::PyramidLevel::getKeypointData | ( | int | i | ) | [inline] |
Definition at line 77 of file pyramid_level.hpp.
| float fovis::PyramidLevel::getKeypointRectBaseU | ( | int | kp_index | ) | const [inline] |
Definition at line 61 of file pyramid_level.hpp.
| const Eigen::Vector2d& fovis::PyramidLevel::getKeypointRectBaseUV | ( | int | kp_index | ) | const [inline] |
Definition at line 69 of file pyramid_level.hpp.
| float fovis::PyramidLevel::getKeypointRectBaseV | ( | int | kp_index | ) | const [inline] |
Definition at line 65 of file pyramid_level.hpp.
| const Eigen::Vector4d& fovis::PyramidLevel::getKeypointXYZW | ( | int | i | ) | const [inline] |
Definition at line 57 of file pyramid_level.hpp.
| int fovis::PyramidLevel::getLevelNum | ( | ) | const [inline] |
Definition at line 81 of file pyramid_level.hpp.
| int fovis::PyramidLevel::getNumDetectedKeypoints | ( | ) | const [inline] |
Definition at line 111 of file pyramid_level.hpp.
| int fovis::PyramidLevel::getNumKeypoints | ( | ) | const [inline] |
Definition at line 45 of file pyramid_level.hpp.
| int fovis::PyramidLevel::getWidth | ( | ) | const [inline] |
Definition at line 95 of file pyramid_level.hpp.
| void fovis::PyramidLevel::increase_capacity | ( | int | new_capacity | ) | [private] |
Definition at line 60 of file pyramid_level.cpp.
| bool fovis::PyramidLevel::isLegalKeypointCoordinate | ( | float | x, |
| float | y | ||
| ) | const [inline] |
Definition at line 98 of file pyramid_level.hpp.
| void fovis::PyramidLevel::populateDescriptorAligned | ( | int | x, |
| int | y, | ||
| uint8_t * | descriptor | ||
| ) | const |
Definition at line 97 of file pyramid_level.cpp.
| void fovis::PyramidLevel::populateDescriptorInterp | ( | float | x, |
| float | y, | ||
| uint8_t * | descriptor | ||
| ) | const |
Definition at line 91 of file pyramid_level.cpp.
| void fovis::PyramidLevel::populateDescriptorsAligned | ( | const KeypointData * | keypoints, |
| int | num_keypoints, | ||
| uint8_t * | descriptors | ||
| ) | const |
Definition at line 112 of file pyramid_level.cpp.
| void fovis::PyramidLevel::populateDescriptorsInterp | ( | const KeypointData * | keypoints, |
| int | num_keypoints, | ||
| uint8_t * | descriptors | ||
| ) | const |
Definition at line 103 of file pyramid_level.cpp.
friend class OdometryFrame [friend] |
Definition at line 116 of file pyramid_level.hpp.
friend class StereoFrame [friend] |
Definition at line 117 of file pyramid_level.hpp.
Definition at line 146 of file pyramid_level.hpp.
uint8_t* fovis::PyramidLevel::_descriptors [private] |
Definition at line 133 of file pyramid_level.hpp.
Definition at line 127 of file pyramid_level.hpp.
int fovis::PyramidLevel::_height [private] |
Definition at line 141 of file pyramid_level.hpp.
std::vector<KeyPoint> fovis::PyramidLevel::_initial_keypoints [private] |
Definition at line 124 of file pyramid_level.hpp.
int fovis::PyramidLevel::_keypoint_max_x [private] |
Definition at line 137 of file pyramid_level.hpp.
int fovis::PyramidLevel::_keypoint_max_y [private] |
Definition at line 138 of file pyramid_level.hpp.
int fovis::PyramidLevel::_keypoint_min_x [private] |
Definition at line 135 of file pyramid_level.hpp.
int fovis::PyramidLevel::_keypoint_min_y [private] |
Definition at line 136 of file pyramid_level.hpp.
KeypointData* fovis::PyramidLevel::_keypoints [private] |
Definition at line 129 of file pyramid_level.hpp.
int fovis::PyramidLevel::_keypoints_capacity [private] |
Definition at line 131 of file pyramid_level.hpp.
int fovis::PyramidLevel::_level_num [private] |
Definition at line 142 of file pyramid_level.hpp.
int fovis::PyramidLevel::_num_detected_keypoints [private] |
Definition at line 125 of file pyramid_level.hpp.
int fovis::PyramidLevel::_num_keypoints [private] |
Definition at line 130 of file pyramid_level.hpp.
uint8_t* fovis::PyramidLevel::_pyrbuf [private] |
Definition at line 144 of file pyramid_level.hpp.
uint8_t* fovis::PyramidLevel::_raw_gray [private] |
Definition at line 121 of file pyramid_level.hpp.
int fovis::PyramidLevel::_raw_gray_stride [private] |
Definition at line 122 of file pyramid_level.hpp.
int fovis::PyramidLevel::_width [private] |
Definition at line 140 of file pyramid_level.hpp.