#include <Features2d.h>

Inheritance diagram for rtabmap::FAST:

Public Member Functions
	FAST (const ParametersMap &parameters=ParametersMap())

virtual Feature2D::Type	getType () const

virtual void	parseParameters (const ParametersMap &parameters)

virtual	~FAST ()

Public Member Functions inherited from rtabmap::Feature2D
cv::Mat	generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const

std::vector< cv::KeyPoint >	generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())

std::vector< cv::Point3f >	generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const

int	getGridCols () const

int	getGridRows () const

float	getMaxDepth () const

int	getMaxFeatures () const

float	getMinDepth () const

virtual const ParametersMap &	getParameters () const

virtual	~Feature2D ()

Private Member Functions
virtual cv::Mat	generateDescriptorsImpl (const cv::Mat &, std::vector< cv::KeyPoint > &) const

virtual std::vector< cv::KeyPoint >	generateKeypointsImpl (const cv::Mat &image, const cv::Rect &roi, const cv::Mat &mask=cv::Mat())

Private Attributes
cv::Ptr< cv::FeatureDetector >	_fast

cv::Ptr< CV_FAST_GPU >	_gpuFast

int	fastCV_

uint32_t *	fastCVCorners_ = NULL

uint32_t *	fastCVCornerScores_ = NULL

bool	fastCVinit_

int	fastCVLastImageHeight_

int	fastCVMaxFeatures_

void *	fastCVTempBuf_ = NULL

bool	gpu_

double	gpuKeypointsRatio_

int	gridCols_

int	gridRows_

int	maxThreshold_

int	minThreshold_

bool	nonmaxSuppression_

int	threshold_

Additional Inherited Members
Public Types inherited from rtabmap::Feature2D
enum	Type { kFeatureUndef =-1, kFeatureSurf =0, kFeatureSift =1, kFeatureOrb =2, kFeatureFastFreak =3, kFeatureFastBrief =4, kFeatureGfttFreak =5, kFeatureGfttBrief =6, kFeatureBrisk =7, kFeatureGfttOrb =8, kFeatureKaze =9, kFeatureOrbOctree =10, kFeatureSuperPointTorch =11, kFeatureSurfFreak =12, kFeatureGfttDaisy =13, kFeatureSurfDaisy =14 }

Static Public Member Functions inherited from rtabmap::Feature2D
static cv::Rect	computeRoi (const cv::Mat &image, const std::string &roiRatios)

static cv::Rect	computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)

static Feature2D *	create (const ParametersMap &parameters=ParametersMap())

static Feature2D *	create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())

static void	filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)

static void	filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)

static void	filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)

static void	filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)

static void	filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)

static void	limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints)

static void	limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints)

static void	limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints)

static void	limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints)

static void	limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols)

static std::string	typeName (Type type)

Protected Member Functions inherited from rtabmap::Feature2D
	Feature2D (const ParametersMap &parameters=ParametersMap())

Detailed Description

Definition at line 331 of file Features2d.h.

Constructor & Destructor Documentation

rtabmap::FAST::FAST ( const ParametersMap & parameters = ParametersMap() )

Definition at line 1253 of file Features2d.cpp.

rtabmap::FAST::~FAST ( )

virtual

Definition at line 1306 of file Features2d.cpp.

Member Function Documentation

virtual cv::Mat rtabmap::FAST::generateDescriptorsImpl	(	const cv::Mat &	,
		std::vector< cv::KeyPoint > &
	)		const

inlineprivatevirtual

Implements rtabmap::Feature2D.

Reimplemented in rtabmap::FAST_FREAK, and rtabmap::FAST_BRIEF.

Definition at line 342 of file Features2d.h.

std::vector< cv::KeyPoint > rtabmap::FAST::generateKeypointsImpl	(	const cv::Mat &	image,
		const cv::Rect &	roi,
		const cv::Mat &	mask = `cv::Mat()`
	)

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 1415 of file Features2d.cpp.

virtual Feature2D::Type rtabmap::FAST::getType ( ) const

inlinevirtual

Implements rtabmap::Feature2D.

Reimplemented in rtabmap::FAST_FREAK, and rtabmap::FAST_BRIEF.

Definition at line 338 of file Features2d.h.

void rtabmap::FAST::parseParameters ( const ParametersMap & parameters )

virtual

Reimplemented from rtabmap::Feature2D.

Reimplemented in rtabmap::FAST_FREAK, and rtabmap::FAST_BRIEF.

Definition at line 1323 of file Features2d.cpp.

Member Data Documentation

cv::Ptr<cv::FeatureDetector> rtabmap::FAST::_fast

private

Definition at line 362 of file Features2d.h.

cv::Ptr<CV_FAST_GPU> rtabmap::FAST::_gpuFast

private

Definition at line 363 of file Features2d.h.

int rtabmap::FAST::fastCV_

private

Definition at line 353 of file Features2d.h.

uint32_t* rtabmap::FAST::fastCVCorners_ = NULL

private

Definition at line 358 of file Features2d.h.

uint32_t* rtabmap::FAST::fastCVCornerScores_ = NULL

private

Definition at line 359 of file Features2d.h.

bool rtabmap::FAST::fastCVinit_

private

Definition at line 355 of file Features2d.h.

int rtabmap::FAST::fastCVLastImageHeight_

private

Definition at line 357 of file Features2d.h.

int rtabmap::FAST::fastCVMaxFeatures_

private

Definition at line 356 of file Features2d.h.

void* rtabmap::FAST::fastCVTempBuf_ = NULL

private

Definition at line 360 of file Features2d.h.

bool rtabmap::FAST::gpu_

private

Definition at line 347 of file Features2d.h.

double rtabmap::FAST::gpuKeypointsRatio_

private

Definition at line 348 of file Features2d.h.

int rtabmap::FAST::gridCols_

private

Definition at line 352 of file Features2d.h.

int rtabmap::FAST::gridRows_

private

Definition at line 351 of file Features2d.h.

int rtabmap::FAST::maxThreshold_

private

Definition at line 350 of file Features2d.h.

int rtabmap::FAST::minThreshold_

private

Definition at line 349 of file Features2d.h.

bool rtabmap::FAST::nonmaxSuppression_

private

Definition at line 346 of file Features2d.h.

int rtabmap::FAST::threshold_

private

Definition at line 345 of file Features2d.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation