Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap::Feature2D Class Referenceabstract

#include <Features2d.h>

Inheritance diagram for rtabmap::Feature2D:
Inheritance graph
[legend]

Public Types

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
}
 

Public Member Functions

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::Type getType () const =0
 
virtual void parseParameters (const ParametersMap &parameters)
 
virtual ~Feature2D ()
 

Static Public Member Functions

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

 Feature2D (const ParametersMap &parameters=ParametersMap())
 

Private Member Functions

virtual cv::Mat generateDescriptorsImpl (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const =0
 
virtual std::vector< cv::KeyPoint > generateKeypointsImpl (const cv::Mat &image, const cv::Rect &roi, const cv::Mat &mask=cv::Mat())=0
 

Private Attributes

float _maxDepth
 
float _minDepth
 
std::vector< float > _roiRatios
 
Stereo * _stereo
 
double _subPixEps
 
int _subPixIterations
 
int _subPixWinSize
 
int gridCols_
 
int gridRows_
 
int maxFeatures_
 
ParametersMap parameters_
 

Detailed Description

Definition at line 106 of file Features2d.h.

Member Enumeration Documentation

enum rtabmap::Feature2D::Type
Enumerator
kFeatureUndef 
kFeatureSurf 
kFeatureSift 
kFeatureOrb 
kFeatureFastFreak 
kFeatureFastBrief 
kFeatureGfttFreak 
kFeatureGfttBrief 
kFeatureBrisk 
kFeatureGfttOrb 
kFeatureKaze 
kFeatureOrbOctree 
kFeatureSuperPointTorch 
kFeatureSurfFreak 
kFeatureGfttDaisy 
kFeatureSurfDaisy 

Definition at line 108 of file Features2d.h.

Constructor & Destructor Documentation

rtabmap::Feature2D::~Feature2D ( )
virtual

Definition at line 439 of file Features2d.cpp.

rtabmap::Feature2D::Feature2D ( const ParametersMap &  parameters = ParametersMap())
protected

Definition at line 425 of file Features2d.cpp.

Member Function Documentation

cv::Rect rtabmap::Feature2D::computeRoi ( const cv::Mat &  image,
const std::string &  roiRatios 
)
static

Definition at line 412 of file Features2d.cpp.

cv::Rect rtabmap::Feature2D::computeRoi ( const cv::Mat &  image,
const std::vector< float > &  roiRatios 
)
static

Definition at line 417 of file Features2d.cpp.

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

Definition at line 503 of file Features2d.cpp.

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

Definition at line 509 of file Features2d.cpp.

void rtabmap::Feature2D::filterKeypointsByDepth ( std::vector< cv::KeyPoint > &  keypoints,
const cv::Mat &  depth,
float  minDepth,
float  maxDepth 
)
static

Definition at line 81 of file Features2d.cpp.

void rtabmap::Feature2D::filterKeypointsByDepth ( std::vector< cv::KeyPoint > &  keypoints,
cv::Mat &  descriptors,
const cv::Mat &  depth,
float  minDepth,
float  maxDepth 
)
static

Definition at line 91 of file Features2d.cpp.

void rtabmap::Feature2D::filterKeypointsByDepth ( std::vector< cv::KeyPoint > &  keypoints,
cv::Mat &  descriptors,
std::vector< cv::Point3f > &  keypoints3D,
float  minDepth,
float  maxDepth 
)
static

Definition at line 153 of file Features2d.cpp.

void rtabmap::Feature2D::filterKeypointsByDisparity ( std::vector< cv::KeyPoint > &  keypoints,
const cv::Mat &  disparity,
float  minDisparity 
)
static

Definition at line 200 of file Features2d.cpp.

void rtabmap::Feature2D::filterKeypointsByDisparity ( std::vector< cv::KeyPoint > &  keypoints,
cv::Mat &  descriptors,
const cv::Mat &  disparity,
float  minDisparity 
)
static

Definition at line 209 of file Features2d.cpp.

cv::Mat rtabmap::Feature2D::generateDescriptors ( const cv::Mat &  image,
std::vector< cv::KeyPoint > &  keypoints 
) const

Definition at line 759 of file Features2d.cpp.

virtual cv::Mat rtabmap::Feature2D::generateDescriptorsImpl ( const cv::Mat &  image,
std::vector< cv::KeyPoint > &  keypoints 
) const
privatepure virtual

Implemented in rtabmap::SURF_DAISY, rtabmap::GFTT_DAISY, rtabmap::SuperPointTorch, rtabmap::ORBOctree, rtabmap::KAZE, rtabmap::BRISK, rtabmap::GFTT_ORB, rtabmap::SURF_FREAK, rtabmap::GFTT_FREAK, rtabmap::GFTT_BRIEF, rtabmap::FAST_FREAK, rtabmap::FAST_BRIEF, rtabmap::FAST, rtabmap::ORB, rtabmap::SIFT, and rtabmap::SURF.

std::vector< cv::KeyPoint > rtabmap::Feature2D::generateKeypoints ( const cv::Mat &  image,
const cv::Mat &  mask = cv::Mat() 
)

Definition at line 657 of file Features2d.cpp.

std::vector< cv::Point3f > rtabmap::Feature2D::generateKeypoints3D ( const SensorData &  data,
const std::vector< cv::KeyPoint > &  keypoints 
) const

Definition at line 775 of file Features2d.cpp.

virtual std::vector<cv::KeyPoint> rtabmap::Feature2D::generateKeypointsImpl ( const cv::Mat &  image,
const cv::Rect &  roi,
const cv::Mat &  mask = cv::Mat() 
)
privatepure virtual

Implemented in rtabmap::SuperPointTorch, rtabmap::ORBOctree, rtabmap::KAZE, rtabmap::BRISK, rtabmap::GFTT, rtabmap::FAST, rtabmap::ORB, rtabmap::SIFT, and rtabmap::SURF.

int rtabmap::Feature2D::getGridCols ( ) const
inline

Definition at line 207 of file Features2d.h.

int rtabmap::Feature2D::getGridRows ( ) const
inline

Definition at line 206 of file Features2d.h.

float rtabmap::Feature2D::getMaxDepth ( ) const
inline

Definition at line 205 of file Features2d.h.

int rtabmap::Feature2D::getMaxFeatures ( ) const
inline

Definition at line 203 of file Features2d.h.

float rtabmap::Feature2D::getMinDepth ( ) const
inline

Definition at line 204 of file Features2d.h.

virtual const ParametersMap& rtabmap::Feature2D::getParameters ( ) const
inlinevirtual

Definition at line 223 of file Features2d.h.

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

Implemented in rtabmap::SURF_DAISY, rtabmap::GFTT_DAISY, rtabmap::SuperPointTorch, rtabmap::ORBOctree, rtabmap::KAZE, rtabmap::BRISK, rtabmap::GFTT_ORB, rtabmap::SURF_FREAK, rtabmap::GFTT_FREAK, rtabmap::GFTT_BRIEF, rtabmap::FAST_FREAK, rtabmap::FAST_BRIEF, rtabmap::FAST, rtabmap::ORB, rtabmap::SIFT, and rtabmap::SURF.

void rtabmap::Feature2D::limitKeypoints ( std::vector< cv::KeyPoint > &  keypoints,
int  maxKeypoints 
)
static

Definition at line 267 of file Features2d.cpp.

void rtabmap::Feature2D::limitKeypoints ( std::vector< cv::KeyPoint > &  keypoints,
cv::Mat &  descriptors,
int  maxKeypoints 
)
static

Definition at line 273 of file Features2d.cpp.

void rtabmap::Feature2D::limitKeypoints ( std::vector< cv::KeyPoint > &  keypoints,
std::vector< cv::Point3f > &  keypoints3D,
cv::Mat &  descriptors,
int  maxKeypoints 
)
static

Definition at line 279 of file Features2d.cpp.

void rtabmap::Feature2D::limitKeypoints ( const std::vector< cv::KeyPoint > &  keypoints,
std::vector< bool > &  inliers,
int  maxKeypoints 
)
static

Definition at line 337 of file Features2d.cpp.

void rtabmap::Feature2D::limitKeypoints ( const std::vector< cv::KeyPoint > &  keypoints,
std::vector< bool > &  inliers,
int  maxKeypoints,
const cv::Size &  imageSize,
int  gridRows,
int  gridCols 
)
static

Definition at line 373 of file Features2d.cpp.

void rtabmap::Feature2D::parseParameters ( const ParametersMap &  parameters)
virtual

Reimplemented in rtabmap::SURF_DAISY, rtabmap::GFTT_DAISY, rtabmap::SuperPointTorch, rtabmap::ORBOctree, rtabmap::KAZE, rtabmap::BRISK, rtabmap::GFTT_ORB, rtabmap::SURF_FREAK, rtabmap::GFTT_FREAK, rtabmap::GFTT_BRIEF, rtabmap::GFTT, rtabmap::FAST_FREAK, rtabmap::FAST_BRIEF, rtabmap::FAST, rtabmap::ORB, rtabmap::SIFT, and rtabmap::SURF.

Definition at line 443 of file Features2d.cpp.

static std::string rtabmap::Feature2D::typeName ( Type  type)
inlinestatic

Definition at line 125 of file Features2d.h.

Member Data Documentation

float rtabmap::Feature2D::_maxDepth
private

Definition at line 236 of file Features2d.h.

float rtabmap::Feature2D::_minDepth
private

Definition at line 237 of file Features2d.h.

std::vector<float> rtabmap::Feature2D::_roiRatios
private

Definition at line 238 of file Features2d.h.

Stereo* rtabmap::Feature2D::_stereo
private

Definition at line 245 of file Features2d.h.

double rtabmap::Feature2D::_subPixEps
private

Definition at line 241 of file Features2d.h.

int rtabmap::Feature2D::_subPixIterations
private

Definition at line 240 of file Features2d.h.

int rtabmap::Feature2D::_subPixWinSize
private

Definition at line 239 of file Features2d.h.

int rtabmap::Feature2D::gridCols_
private

Definition at line 243 of file Features2d.h.

int rtabmap::Feature2D::gridRows_
private

Definition at line 242 of file Features2d.h.

int rtabmap::Feature2D::maxFeatures_
private

Definition at line 235 of file Features2d.h.

ParametersMap rtabmap::Feature2D::parameters_
private

Definition at line 234 of file Features2d.h.

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

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:08