rtabmap::GFTT Class Reference

#include <Features2d.h>

Inheritance diagram for rtabmap::GFTT:

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

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

Private Attributes
int	_blockSize
cv::Ptr< CV_GFTT >	_gftt
double	_k
double	_minDistance
double	_qualityLevel
bool	_useHarrisDetector

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 337 of file Features2d.h.

Constructor & Destructor Documentation

rtabmap::GFTT::GFTT

(

const ParametersMap &

parameters = ParametersMap()

)

Definition at line 1300 of file Features2d.cpp.

rtabmap::GFTT::~GFTT ( )

virtual

Definition at line 1310 of file Features2d.cpp.

Member Function Documentation

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

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 1331 of file Features2d.cpp.

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

virtual

Reimplemented from rtabmap::Feature2D.

Reimplemented in rtabmap::GFTT_ORB, rtabmap::GFTT_FREAK, and rtabmap::GFTT_BRIEF.

Definition at line 1314 of file Features2d.cpp.

Member Data Documentation

int rtabmap::GFTT::_blockSize

private

Definition at line 351 of file Features2d.h.

cv::Ptr<CV_GFTT> rtabmap::GFTT::_gftt

private

Definition at line 355 of file Features2d.h.

double rtabmap::GFTT::_k

private

Definition at line 353 of file Features2d.h.

double rtabmap::GFTT::_minDistance

private

Definition at line 350 of file Features2d.h.

double rtabmap::GFTT::_qualityLevel

private

Definition at line 349 of file Features2d.h.

bool rtabmap::GFTT::_useHarrisDetector

private

Definition at line 352 of file Features2d.h.

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

• Features2d.h
• Features2d.cpp