rtabmap::CV_ORB Class Reference

#include <Orb.h>

List of all members.

Public Types
enum	{ kBytes = 32, HARRIS_SCORE = 0, FAST_SCORE = 1 }
Public Member Functions
CV_WRAP	CV_ORB (int nfeatures=500, float scaleFactor=1.2f, int nlevels=8, int edgeThreshold=31, int firstLevel=0, int WTA_K=2, int scoreType=CV_ORB::HARRIS_SCORE, int patchSize=31, const ParametersMap &fastParameters=ParametersMap())
int	descriptorSize () const
int	descriptorType () const
void	operator() (cv::InputArray image, cv::InputArray mask, std::vector< cv::KeyPoint > &keypoints) const
void	operator() (cv::InputArray image, cv::InputArray mask, std::vector< cv::KeyPoint > &keypoints, cv::OutputArray descriptors, bool useProvidedKeypoints=false) const
Protected Member Functions
void	computeImpl (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors) const
void	detectImpl (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints, const cv::Mat &mask=cv::Mat()) const
Protected Attributes
CV_PROP_RW int	edgeThreshold
ParametersMap	fastParameters
CV_PROP_RW int	firstLevel
CV_PROP_RW int	nfeatures
CV_PROP_RW int	nlevels
CV_PROP_RW int	patchSize
CV_PROP_RW double	scaleFactor
CV_PROP_RW int	scoreType
CV_PROP_RW int	WTA_K

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Detailed Description

ORB implementation.

Definition at line 58 of file Orb.h.

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Member Enumeration Documentation

anonymous enum

Enumerator:

kBytes
HARRIS_SCORE
FAST_SCORE

Definition at line 62 of file Orb.h.

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Constructor & Destructor Documentation

rtabmap::CV_ORB::CV_ORB	(	int	_nfeatures = 500,
		float	_scaleFactor = 1.2f,
		int	_nlevels = 8,
		int	_edgeThreshold = 31,
		int	_firstLevel = 0,
		int	_WTA_K = 2,
		int	_scoreType = CV_ORB::HARRIS_SCORE,
		int	_patchSize = 31,
		const ParametersMap &	_fastParameters = ParametersMap()
	)		[explicit]

Constructor

Parameters:

detector_params

parameters to use

Definition at line 569 of file Orb.cpp.

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Member Function Documentation

void rtabmap::CV_ORB::computeImpl	(	const cv::Mat &	image,
		std::vector< cv::KeyPoint > &	keypoints,
		cv::Mat &	descriptors
	)		const [protected]

Definition at line 958 of file Orb.cpp.

int rtabmap::CV_ORB::descriptorSize

(

)

const

Definition at line 577 of file Orb.cpp.

int rtabmap::CV_ORB::descriptorType

(

)

const

Definition at line 582 of file Orb.cpp.

void rtabmap::CV_ORB::detectImpl	(	const cv::Mat &	image,
		std::vector< cv::KeyPoint > &	keypoints,
		const cv::Mat &	mask = cv::Mat()
	)		const [protected]

Definition at line 953 of file Orb.cpp.

void rtabmap::CV_ORB::operator()	(	cv::InputArray	image,
		cv::InputArray	mask,
		std::vector< cv::KeyPoint > &	keypoints
	)		const

void rtabmap::CV_ORB::operator()	(	cv::InputArray	image,
		cv::InputArray	mask,
		std::vector< cv::KeyPoint > &	keypoints,
		cv::OutputArray	descriptors,
		bool	useProvidedKeypoints = false
	)		const

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Member Data Documentation

CV_PROP_RW int rtabmap::CV_ORB::edgeThreshold [protected]

Definition at line 87 of file Orb.h.

ParametersMap rtabmap::CV_ORB::fastParameters [protected]

Definition at line 93 of file Orb.h.

CV_PROP_RW int rtabmap::CV_ORB::firstLevel [protected]

Definition at line 88 of file Orb.h.

CV_PROP_RW int rtabmap::CV_ORB::nfeatures [protected]

Definition at line 84 of file Orb.h.

CV_PROP_RW int rtabmap::CV_ORB::nlevels [protected]

Definition at line 86 of file Orb.h.

CV_PROP_RW int rtabmap::CV_ORB::patchSize [protected]

Definition at line 91 of file Orb.h.

CV_PROP_RW double rtabmap::CV_ORB::scaleFactor [protected]

Definition at line 85 of file Orb.h.

CV_PROP_RW int rtabmap::CV_ORB::scoreType [protected]

Definition at line 90 of file Orb.h.

CV_PROP_RW int rtabmap::CV_ORB::WTA_K [protected]

Definition at line 89 of file Orb.h.

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The documentation for this class was generated from the following files:

• Orb.h
• Orb.cpp