rtabmap::ORBextractor Class Reference

#include <ORBextractor.h>

Public Types
enum	{ HARRIS_SCORE =0, FAST_SCORE =1 }

Public Member Functions
std::vector< float >	GetInverseScaleFactors ()
std::vector< float >	GetInverseScaleSigmaSquares ()
int	GetLevels ()
float	GetScaleFactor ()
std::vector< float >	GetScaleFactors ()
std::vector< float >	GetScaleSigmaSquares ()
void	operator() (cv::InputArray image, cv::InputArray mask, std::vector< cv::KeyPoint > &keypoints, cv::OutputArray descriptors)
	ORBextractor (int nfeatures, float scaleFactor, int nlevels, int iniThFAST, int minThFAST, int patchSize, int edgeThreshold)
	~ORBextractor ()

Public Attributes
std::vector< cv::Mat >	mvImagePyramid

Protected Member Functions
void	ComputeKeyPointsOctTree (std::vector< std::vector< cv::KeyPoint > > &allKeypoints)
void	ComputeKeyPointsOld (std::vector< std::vector< cv::KeyPoint > > &allKeypoints)
void	ComputePyramid (cv::Mat image)
std::vector< cv::KeyPoint >	DistributeOctTree (const std::vector< cv::KeyPoint > &vToDistributeKeys, const int &minX, const int &maxX, const int &minY, const int &maxY, const int &nFeatures, const int &level)

Protected Attributes
int	edgeThreshold
int	halfPatchSize
int	iniThFAST
int	minThFAST
std::vector< int >	mnFeaturesPerLevel
std::vector< float >	mvInvLevelSigma2
std::vector< float >	mvInvScaleFactor
std::vector< float >	mvLevelSigma2
std::vector< float >	mvScaleFactor
int	nfeatures
int	nlevels
int	patchSize
std::vector< cv::Point >	pattern
double	scaleFactor
std::vector< int >	umax

Detailed Description

Definition at line 53 of file ORBextractor.h.

Member Enumeration Documentation

anonymous enum

anonymous enum

Enumerator
HARRIS_SCORE
FAST_SCORE

Definition at line 57 of file ORBextractor.h.

Constructor & Destructor Documentation

ORBextractor()

rtabmap::ORBextractor::ORBextractor	(	int	nfeatures,
		float	scaleFactor,
		int	nlevels,
		int	iniThFAST,
		int	minThFAST,
		int	patchSize,
		int	edgeThreshold
	)

Definition at line 416 of file ORBextractor.cc.

~ORBextractor()

rtabmap::ORBextractor::~ORBextractor ( )

inline

Definition at line 62 of file ORBextractor.h.

Member Function Documentation

ComputeKeyPointsOctTree()

void rtabmap::ORBextractor::ComputeKeyPointsOctTree ( std::vector< std::vector< cv::KeyPoint > > &  allKeypoints )

protected

Definition at line 772 of file ORBextractor.cc.

ComputeKeyPointsOld()

void rtabmap::ORBextractor::ComputeKeyPointsOld ( std::vector< std::vector< cv::KeyPoint > > &  allKeypoints )

protected

Definition at line 862 of file ORBextractor.cc.

ComputePyramid()

void rtabmap::ORBextractor::ComputePyramid ( cv::Mat  image )

protected

Definition at line 1114 of file ORBextractor.cc.

DistributeOctTree()

vector< cv::KeyPoint > rtabmap::ORBextractor::DistributeOctTree ( const std::vector< cv::KeyPoint > &  vToDistributeKeys, const int &  minX, const int &  maxX, const int &  minY, const int &  maxY, const int &  nFeatures, const int &  level  )

protected

Definition at line 546 of file ORBextractor.cc.

GetInverseScaleFactors()

std::vector<float> rtabmap::ORBextractor::GetInverseScaleFactors ( )

inline

Definition at line 81 of file ORBextractor.h.

GetInverseScaleSigmaSquares()

std::vector<float> rtabmap::ORBextractor::GetInverseScaleSigmaSquares ( )

inline

Definition at line 89 of file ORBextractor.h.

GetLevels()

int rtabmap::ORBextractor::GetLevels ( )

inline

Definition at line 71 of file ORBextractor.h.

GetScaleFactor()

float rtabmap::ORBextractor::GetScaleFactor ( )

inline

Definition at line 74 of file ORBextractor.h.

GetScaleFactors()

std::vector<float> rtabmap::ORBextractor::GetScaleFactors ( )

inline

Definition at line 77 of file ORBextractor.h.

GetScaleSigmaSquares()

std::vector<float> rtabmap::ORBextractor::GetScaleSigmaSquares ( )

inline

Definition at line 85 of file ORBextractor.h.

operator()()

void rtabmap::ORBextractor::operator()	(	cv::InputArray	image,
		cv::InputArray	mask,
		std::vector< cv::KeyPoint > &	keypoints,
		cv::OutputArray	descriptors
	)

Definition at line 1050 of file ORBextractor.cc.

Member Data Documentation

edgeThreshold

int rtabmap::ORBextractor::edgeThreshold

protected

Definition at line 111 of file ORBextractor.h.

halfPatchSize

int rtabmap::ORBextractor::halfPatchSize

protected

Definition at line 112 of file ORBextractor.h.

iniThFAST

int rtabmap::ORBextractor::iniThFAST

protected

Definition at line 108 of file ORBextractor.h.

minThFAST

int rtabmap::ORBextractor::minThFAST

protected

Definition at line 109 of file ORBextractor.h.

mnFeaturesPerLevel

std::vector<int> rtabmap::ORBextractor::mnFeaturesPerLevel

protected

Definition at line 115 of file ORBextractor.h.

mvImagePyramid

std::vector<cv::Mat> rtabmap::ORBextractor::mvImagePyramid

Definition at line 93 of file ORBextractor.h.

mvInvLevelSigma2

std::vector<float> rtabmap::ORBextractor::mvInvLevelSigma2

protected

Definition at line 122 of file ORBextractor.h.

mvInvScaleFactor

std::vector<float> rtabmap::ORBextractor::mvInvScaleFactor

protected

Definition at line 120 of file ORBextractor.h.

mvLevelSigma2

std::vector<float> rtabmap::ORBextractor::mvLevelSigma2

protected

Definition at line 121 of file ORBextractor.h.

mvScaleFactor

std::vector<float> rtabmap::ORBextractor::mvScaleFactor

protected

Definition at line 119 of file ORBextractor.h.

nfeatures

int rtabmap::ORBextractor::nfeatures

protected

Definition at line 105 of file ORBextractor.h.

nlevels

int rtabmap::ORBextractor::nlevels

protected

Definition at line 107 of file ORBextractor.h.

patchSize

int rtabmap::ORBextractor::patchSize

protected

Definition at line 110 of file ORBextractor.h.

pattern

std::vector<cv::Point> rtabmap::ORBextractor::pattern

protected

Definition at line 103 of file ORBextractor.h.

scaleFactor

double rtabmap::ORBextractor::scaleFactor

protected

Definition at line 106 of file ORBextractor.h.

umax

std::vector<int> rtabmap::ORBextractor::umax

protected

Definition at line 117 of file ORBextractor.h.

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

• ORBextractor.h
• ORBextractor.cc