#include <rtabmap/core/Features2d.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UStl.h>
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgproc/imgproc_c.h"
#include <algorithm>
#include <iterator>
#include "Orb.h"
Go to the source code of this file.
Namespaces | |
namespace | rtabmap |
Defines | |
#define | GET_VALUE(idx) |
Functions | |
static void | rtabmap::computeDescriptors (const Mat &image, std::vector< KeyPoint > &keypoints, Mat &descriptors, const std::vector< Point > &pattern, int dsize, int WTA_K) |
static void | rtabmap::computeKeyPoints (const std::vector< Mat > &imagePyramid, const std::vector< Mat > &maskPyramid, std::vector< std::vector< KeyPoint > > &allKeypoints, int nfeatures, int firstLevel, double scaleFactor, int edgeThreshold, int patchSize, int scoreType, ParametersMap fastParameters) |
static void | rtabmap::computeOrbDescriptor (const KeyPoint &kpt, const Mat &img, const Point *pattern, uchar *desc, int dsize, int WTA_K) |
static void | rtabmap::computeOrientation (const Mat &image, std::vector< KeyPoint > &keypoints, int halfPatchSize, const std::vector< int > &umax) |
static float | rtabmap::getScale (int level, int firstLevel, double scaleFactor) |
static void | rtabmap::HarrisResponses (const Mat &img, std::vector< KeyPoint > &pts, int blockSize, float harris_k) |
static float | rtabmap::IC_Angle (const Mat &image, const int half_k, Point2f pt, const std::vector< int > &u_max) |
static void | rtabmap::initializeOrbPattern (const Point *pattern0, std::vector< Point > &pattern, int ntuples, int tupleSize, int poolSize) |
static void | rtabmap::makeRandomPattern (int patchSize, Point *pattern, int npoints) |
Variables | |
static int | rtabmap::bit_pattern_31_ [256 *4] |
const float | rtabmap::HARRIS_K = 0.04f |