#include <Features2d.h>

Inheritance diagram for rtabmap::SuperPointTorch:

Public Member Functions
virtual Feature2D::Type	getType () const

virtual void	parseParameters (const ParametersMap &parameters)

	SuperPointTorch (const ParametersMap &parameters=ParametersMap())

virtual	~SuperPointTorch ()

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 &image, std::vector< cv::KeyPoint > &keypoints) const

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

Private Attributes
bool	cuda_

int	minDistance_

bool	nms_

std::string	path_

cv::Ptr< SPDetector >	superPoint_

float	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 585 of file Features2d.h.

Constructor & Destructor Documentation

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

Definition at line 2031 of file Features2d.cpp.

rtabmap::SuperPointTorch::~SuperPointTorch ( )

virtual

Definition at line 2041 of file Features2d.cpp.

Member Function Documentation

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

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 2087 of file Features2d.cpp.

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

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 2075 of file Features2d.cpp.

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

inlinevirtual

Implements rtabmap::Feature2D.

Definition at line 592 of file Features2d.h.

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

virtual

Reimplemented from rtabmap::Feature2D.

Definition at line 2045 of file Features2d.cpp.

Member Data Documentation

bool rtabmap::SuperPointTorch::cuda_

private

Definition at line 604 of file Features2d.h.

int rtabmap::SuperPointTorch::minDistance_

private

Definition at line 603 of file Features2d.h.

bool rtabmap::SuperPointTorch::nms_

private

Definition at line 602 of file Features2d.h.

std::string rtabmap::SuperPointTorch::path_

private

Definition at line 600 of file Features2d.h.

cv::Ptr<SPDetector> rtabmap::SuperPointTorch::superPoint_

private

Definition at line 598 of file Features2d.h.

float rtabmap::SuperPointTorch::threshold_

private

Definition at line 601 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