rtabmap::ORBOctree Class Reference

#include <Features2d.h>

Inheritance diagram for rtabmap::ORBOctree:

Public Member Functions
virtual Feature2D::Type	getType () const
	ORBOctree (const ParametersMap &parameters=ParametersMap())
virtual void	parseParameters (const ParametersMap &parameters)
virtual	~ORBOctree ()
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< ORBextractor >	_orb
cv::Mat	descriptors_
int	edgeThreshold_
int	fastMinThreshold_
int	fastThreshold_
int	nLevels_
int	patchSize_
float	scaleFactor_

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 560 of file Features2d.h.

Constructor & Destructor Documentation

ORBOctree()

rtabmap::ORBOctree::ORBOctree

(

const ParametersMap &

parameters = ParametersMap()

)

Definition at line 2073 of file Features2d.cpp.

~ORBOctree()

rtabmap::ORBOctree::~ORBOctree ( )

virtual

Definition at line 2084 of file Features2d.cpp.

Member Function Documentation

generateDescriptorsImpl()

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

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 2132 of file Features2d.cpp.

generateKeypointsImpl()

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

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 2107 of file Features2d.cpp.

getType()

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

inlinevirtual

Implements rtabmap::Feature2D.

Definition at line 567 of file Features2d.h.

parseParameters()

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

virtual

Reimplemented from rtabmap::Feature2D.

Definition at line 2088 of file Features2d.cpp.

Member Data Documentation

_orb

cv::Ptr<ORBextractor> rtabmap::ORBOctree::_orb

private

Definition at line 581 of file Features2d.h.

descriptors_

cv::Mat rtabmap::ORBOctree::descriptors_

private

Definition at line 582 of file Features2d.h.

edgeThreshold_

int rtabmap::ORBOctree::edgeThreshold_

private

Definition at line 577 of file Features2d.h.

fastMinThreshold_

int rtabmap::ORBOctree::fastMinThreshold_

private

Definition at line 579 of file Features2d.h.

fastThreshold_

int rtabmap::ORBOctree::fastThreshold_

private

Definition at line 578 of file Features2d.h.

nLevels_

int rtabmap::ORBOctree::nLevels_

private

Definition at line 575 of file Features2d.h.

patchSize_

int rtabmap::ORBOctree::patchSize_

private

Definition at line 576 of file Features2d.h.

scaleFactor_

float rtabmap::ORBOctree::scaleFactor_

private

Definition at line 574 of file Features2d.h.

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

• Features2d.h
• Features2d.cpp