ORBextractor.cc File Reference

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <vector>
#include <algorithm>
#include <iterator>
#include <set>
#include "ORBextractor.h"

Include dependency graph for ORBextractor.cc:

Go to the source code of this file.

Namespaces
	rtabmap

Macros
#define	GET_VALUE(idx)

Functions
static void	rtabmap::computeDescriptors (const Mat &image, vector< KeyPoint > &keypoints, Mat &descriptors, const vector< Point > &pattern)
static void	rtabmap::computeOrbDescriptor (const KeyPoint &kpt, const Mat &img, const Point *pattern, uchar *desc)
static void	rtabmap::computeOrientation (const Mat &image, vector< KeyPoint > &keypoints, const vector< int > &umax, int halfPatchSize)
static float	rtabmap::IC_Angle (const Mat &image, Point2f pt, const vector< int > &u_max, int halfPatchSize)

Variables
static int	rtabmap::bit_pattern_31_ [256 *4]
const float	rtabmap::factorPI = (float)(CV_PI/180.f)

Macro Definition Documentation

GET_VALUE

#define GET_VALUE

(

idx

)

Value:

center[cvRound(pattern[idx].x*b + pattern[idx].y*a)*step + \
               cvRound(pattern[idx].x*a - pattern[idx].y*b)]