rtabmap::FAST Class Reference

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

Private Attributes
cv::Ptr< cv::FeatureDetector >	_fast
cv::Ptr< CV_FAST_GPU >	_gpuFast
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 }
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	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)
Protected Member Functions inherited from rtabmap::Feature2D
	Feature2D (const ParametersMap &parameters=ParametersMap())

Detailed Description

Definition at line 268 of file Features2d.h.

Constructor & Destructor Documentation

rtabmap::FAST::FAST

(

const ParametersMap &

parameters = ParametersMap()

)

Definition at line 1059 of file Features2d.cpp.

rtabmap::FAST::~FAST ( )

virtual

Definition at line 1072 of file Features2d.cpp.

Member Function Documentation

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

inlineprivatevirtual

Implements rtabmap::Feature2D.

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

Definition at line 279 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()  ) const

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 1165 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 275 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 1076 of file Features2d.cpp.

Member Data Documentation

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

private

Definition at line 291 of file Features2d.h.

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

private

Definition at line 292 of file Features2d.h.

bool rtabmap::FAST::gpu_

private

Definition at line 284 of file Features2d.h.

double rtabmap::FAST::gpuKeypointsRatio_

private

Definition at line 285 of file Features2d.h.

int rtabmap::FAST::gridCols_

private

Definition at line 289 of file Features2d.h.

int rtabmap::FAST::gridRows_

private

Definition at line 288 of file Features2d.h.

int rtabmap::FAST::maxThreshold_

private

Definition at line 287 of file Features2d.h.

int rtabmap::FAST::minThreshold_

private

Definition at line 286 of file Features2d.h.

bool rtabmap::FAST::nonmaxSuppression_

private

Definition at line 283 of file Features2d.h.

int rtabmap::FAST::threshold_

private

Definition at line 282 of file Features2d.h.

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

• Features2d.h
• Features2d.cpp