#include <ORBextractor.h>

Public Types
enum	{ HARRIS_SCORE =0, FAST_SCORE =1 }

Public Member Functions
std::vector< float >	GetInverseScaleFactors ()

std::vector< float >	GetInverseScaleSigmaSquares ()

int	GetLevels ()

float	GetScaleFactor ()

std::vector< float >	GetScaleFactors ()

std::vector< float >	GetScaleSigmaSquares ()

void	operator() (cv::InputArray image, cv::InputArray mask, std::vector< cv::KeyPoint > &keypoints, cv::OutputArray descriptors)

	ORBextractor (int nfeatures, float scaleFactor, int nlevels, int iniThFAST, int minThFAST, int patchSize, int edgeThreshold)

	~ORBextractor ()

Public Attributes
std::vector< cv::Mat >	mvImagePyramid

Protected Member Functions
void	ComputeKeyPointsOctTree (std::vector< std::vector< cv::KeyPoint > > &allKeypoints)

void	ComputeKeyPointsOld (std::vector< std::vector< cv::KeyPoint > > &allKeypoints)

void	ComputePyramid (cv::Mat image)

std::vector< cv::KeyPoint >	DistributeOctTree (const std::vector< cv::KeyPoint > &vToDistributeKeys, const int &minX, const int &maxX, const int &minY, const int &maxY, const int &nFeatures, const int &level)

Protected Attributes
int	edgeThreshold

int	halfPatchSize

int	iniThFAST

int	minThFAST

std::vector< int >	mnFeaturesPerLevel

std::vector< float >	mvInvLevelSigma2

std::vector< float >	mvInvScaleFactor

std::vector< float >	mvLevelSigma2

std::vector< float >	mvScaleFactor

int	nfeatures

int	nlevels

int	patchSize

std::vector< cv::Point >	pattern

double	scaleFactor

std::vector< int >	umax

Detailed Description

Definition at line 53 of file ORBextractor.h.

Member Enumeration Documentation

anonymous enum

Enumerator
HARRIS_SCORE
FAST_SCORE

Definition at line 57 of file ORBextractor.h.

Constructor & Destructor Documentation

rtabmap::ORBextractor::ORBextractor	(	int	nfeatures,
		float	scaleFactor,
		int	nlevels,
		int	iniThFAST,
		int	minThFAST,
		int	patchSize,
		int	edgeThreshold
	)

Definition at line 416 of file ORBextractor.cc.

rtabmap::ORBextractor::~ORBextractor ( )

inline

Definition at line 62 of file ORBextractor.h.

Member Function Documentation

void rtabmap::ORBextractor::ComputeKeyPointsOctTree ( std::vector< std::vector< cv::KeyPoint > > & allKeypoints )

protected

Definition at line 772 of file ORBextractor.cc.

void rtabmap::ORBextractor::ComputeKeyPointsOld ( std::vector< std::vector< cv::KeyPoint > > & allKeypoints )

protected

Definition at line 862 of file ORBextractor.cc.

void rtabmap::ORBextractor::ComputePyramid ( cv::Mat image )

protected

Definition at line 1114 of file ORBextractor.cc.

vector< cv::KeyPoint > rtabmap::ORBextractor::DistributeOctTree	(	const std::vector< cv::KeyPoint > &	vToDistributeKeys,
		const int &	minX,
		const int &	maxX,
		const int &	minY,
		const int &	maxY,
		const int &	nFeatures,
		const int &	level
	)

protected

Definition at line 546 of file ORBextractor.cc.

std::vector<float> rtabmap::ORBextractor::GetInverseScaleFactors ( )

inline

Definition at line 81 of file ORBextractor.h.

std::vector<float> rtabmap::ORBextractor::GetInverseScaleSigmaSquares ( )

inline

Definition at line 89 of file ORBextractor.h.

int rtabmap::ORBextractor::GetLevels ( )

inline

Definition at line 71 of file ORBextractor.h.

float rtabmap::ORBextractor::GetScaleFactor ( )

inline

Definition at line 74 of file ORBextractor.h.

std::vector<float> rtabmap::ORBextractor::GetScaleFactors ( )

inline

Definition at line 77 of file ORBextractor.h.

std::vector<float> rtabmap::ORBextractor::GetScaleSigmaSquares ( )

inline

Definition at line 85 of file ORBextractor.h.

void rtabmap::ORBextractor::operator()	(	cv::InputArray	image,
		cv::InputArray	mask,
		std::vector< cv::KeyPoint > &	keypoints,
		cv::OutputArray	descriptors
	)

Definition at line 1050 of file ORBextractor.cc.

Member Data Documentation

int rtabmap::ORBextractor::edgeThreshold

protected

Definition at line 111 of file ORBextractor.h.

int rtabmap::ORBextractor::halfPatchSize

protected

Definition at line 112 of file ORBextractor.h.

int rtabmap::ORBextractor::iniThFAST

protected

Definition at line 108 of file ORBextractor.h.

int rtabmap::ORBextractor::minThFAST

protected

Definition at line 109 of file ORBextractor.h.

std::vector<int> rtabmap::ORBextractor::mnFeaturesPerLevel

protected

Definition at line 115 of file ORBextractor.h.

std::vector<cv::Mat> rtabmap::ORBextractor::mvImagePyramid

Definition at line 93 of file ORBextractor.h.

std::vector<float> rtabmap::ORBextractor::mvInvLevelSigma2

protected

Definition at line 122 of file ORBextractor.h.

std::vector<float> rtabmap::ORBextractor::mvInvScaleFactor

protected

Definition at line 120 of file ORBextractor.h.

std::vector<float> rtabmap::ORBextractor::mvLevelSigma2

protected

Definition at line 121 of file ORBextractor.h.

std::vector<float> rtabmap::ORBextractor::mvScaleFactor

protected

Definition at line 119 of file ORBextractor.h.

int rtabmap::ORBextractor::nfeatures

protected

Definition at line 105 of file ORBextractor.h.

int rtabmap::ORBextractor::nlevels

protected

Definition at line 107 of file ORBextractor.h.

int rtabmap::ORBextractor::patchSize

protected

Definition at line 110 of file ORBextractor.h.

std::vector<cv::Point> rtabmap::ORBextractor::pattern

protected

Definition at line 103 of file ORBextractor.h.

double rtabmap::ORBextractor::scaleFactor

protected

Definition at line 106 of file ORBextractor.h.

std::vector<int> rtabmap::ORBextractor::umax

protected

Definition at line 117 of file ORBextractor.h.

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

Public Types

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation