Public Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap::FAST Class Reference

#include <Features2d.h>

Inheritance diagram for rtabmap::FAST:
Inheritance graph
[legend]

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

Private Attributes

cv::Ptr< cv::FeatureDetector > _fast
 
cv::Ptr< CV_FAST_GPU > _gpuFast
 
int fastCV_
 
uint32_t * fastCVCorners_ = NULL
 
uint32_t * fastCVCornerScores_ = NULL
 
bool fastCVinit_
 
int fastCVLastImageHeight_
 
int fastCVMaxFeatures_
 
void * fastCVTempBuf_ = NULL
 
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, kFeatureOrbOctree =10,
  kFeatureSuperPointTorch =11, kFeatureSurfFreak =12, kFeatureGfttDaisy =13, kFeatureSurfDaisy =14,
  kFeaturePyDetector =15
}
 
- 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 332 of file Features2d.h.

Constructor & Destructor Documentation

◆ FAST()

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

Definition at line 1367 of file Features2d.cpp.

◆ ~FAST()

rtabmap::FAST::~FAST ( )
virtual

Definition at line 1420 of file Features2d.cpp.

Member Function Documentation

◆ generateDescriptorsImpl()

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

Implements rtabmap::Feature2D.

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

Definition at line 343 of file Features2d.h.

◆ generateKeypointsImpl()

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

Implements rtabmap::Feature2D.

Definition at line 1529 of file Features2d.cpp.

◆ getType()

virtual Feature2D::Type rtabmap::FAST::getType ( ) const
inlinevirtual

Implements rtabmap::Feature2D.

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

Definition at line 339 of file Features2d.h.

◆ parseParameters()

void rtabmap::FAST::parseParameters ( const ParametersMap &  parameters)
virtual

Reimplemented from rtabmap::Feature2D.

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

Definition at line 1437 of file Features2d.cpp.

Member Data Documentation

◆ _fast

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

Definition at line 363 of file Features2d.h.

◆ _gpuFast

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

Definition at line 364 of file Features2d.h.

◆ fastCV_

int rtabmap::FAST::fastCV_
private

Definition at line 354 of file Features2d.h.

◆ fastCVCorners_

uint32_t* rtabmap::FAST::fastCVCorners_ = NULL
private

Definition at line 359 of file Features2d.h.

◆ fastCVCornerScores_

uint32_t* rtabmap::FAST::fastCVCornerScores_ = NULL
private

Definition at line 360 of file Features2d.h.

◆ fastCVinit_

bool rtabmap::FAST::fastCVinit_
private

Definition at line 356 of file Features2d.h.

◆ fastCVLastImageHeight_

int rtabmap::FAST::fastCVLastImageHeight_
private

Definition at line 358 of file Features2d.h.

◆ fastCVMaxFeatures_

int rtabmap::FAST::fastCVMaxFeatures_
private

Definition at line 357 of file Features2d.h.

◆ fastCVTempBuf_

void* rtabmap::FAST::fastCVTempBuf_ = NULL
private

Definition at line 361 of file Features2d.h.

◆ gpu_

bool rtabmap::FAST::gpu_
private

Definition at line 348 of file Features2d.h.

◆ gpuKeypointsRatio_

double rtabmap::FAST::gpuKeypointsRatio_
private

Definition at line 349 of file Features2d.h.

◆ gridCols_

int rtabmap::FAST::gridCols_
private

Definition at line 353 of file Features2d.h.

◆ gridRows_

int rtabmap::FAST::gridRows_
private

Definition at line 352 of file Features2d.h.

◆ maxThreshold_

int rtabmap::FAST::maxThreshold_
private

Definition at line 351 of file Features2d.h.

◆ minThreshold_

int rtabmap::FAST::minThreshold_
private

Definition at line 350 of file Features2d.h.

◆ nonmaxSuppression_

bool rtabmap::FAST::nonmaxSuppression_
private

Definition at line 347 of file Features2d.h.

◆ threshold_

int rtabmap::FAST::threshold_
private

Definition at line 346 of file Features2d.h.

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

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:39:00