rtabmap::ORB Class Reference

#include <Features2d.h>

Inheritance diagram for rtabmap::ORB:

Public Member Functions
virtual Feature2D::Type	getType () const
	ORB (const ParametersMap &parameters=ParametersMap())
virtual void	parseParameters (const ParametersMap &parameters)
virtual	~ORB ()
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
cv::Ptr< CV_ORB_GPU >	_gpuOrb
cv::Ptr< CV_ORB >	_orb
int	edgeThreshold_
int	fastThreshold_
int	firstLevel_
bool	gpu_
int	nLevels_
bool	nonmaxSuppresion_
int	patchSize_
float	scaleFactor_
int	scoreType_
int	WTA_K_

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 301 of file Features2d.h.

Constructor & Destructor Documentation

ORB()

rtabmap::ORB::ORB

(

const ParametersMap &

parameters = ParametersMap()

)

Definition at line 1175 of file Features2d.cpp.

~ORB()

rtabmap::ORB::~ORB ( )

virtual

Definition at line 1190 of file Features2d.cpp.

Member Function Documentation

generateDescriptorsImpl()

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

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 1307 of file Features2d.cpp.

generateKeypointsImpl()

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

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 1265 of file Features2d.cpp.

getType()

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

inlinevirtual

Implements rtabmap::Feature2D.

Definition at line 308 of file Features2d.h.

parseParameters()

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

virtual

Reimplemented from rtabmap::Feature2D.

Definition at line 1194 of file Features2d.cpp.

Member Data Documentation

_gpuOrb

cv::Ptr<CV_ORB_GPU> rtabmap::ORB::_gpuOrb

private

Definition at line 328 of file Features2d.h.

_orb

cv::Ptr<CV_ORB> rtabmap::ORB::_orb

private

Definition at line 327 of file Features2d.h.

edgeThreshold_

int rtabmap::ORB::edgeThreshold_

private

Definition at line 317 of file Features2d.h.

fastThreshold_

int rtabmap::ORB::fastThreshold_

private

Definition at line 324 of file Features2d.h.

firstLevel_

int rtabmap::ORB::firstLevel_

private

Definition at line 318 of file Features2d.h.

gpu_

bool rtabmap::ORB::gpu_

private

Definition at line 322 of file Features2d.h.

nLevels_

int rtabmap::ORB::nLevels_

private

Definition at line 316 of file Features2d.h.

nonmaxSuppresion_

bool rtabmap::ORB::nonmaxSuppresion_

private

Definition at line 325 of file Features2d.h.

patchSize_

int rtabmap::ORB::patchSize_

private

Definition at line 321 of file Features2d.h.

scaleFactor_

float rtabmap::ORB::scaleFactor_

private

Definition at line 315 of file Features2d.h.

scoreType_

int rtabmap::ORB::scoreType_

private

Definition at line 320 of file Features2d.h.

WTA_K_

int rtabmap::ORB::WTA_K_

private

Definition at line 319 of file Features2d.h.

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

• Features2d.h
• Features2d.cpp