rtabmap::SURF Class Reference

#include <Features2d.h>

Inheritance diagram for rtabmap::SURF:

Public Member Functions
virtual Feature2D::Type	getType () const
virtual void	parseParameters (const ParametersMap &parameters)
	SURF (const ParametersMap &parameters=ParametersMap())
virtual	~SURF ()
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_SURF_GPU >	_gpuSurf
cv::Ptr< CV_SURF >	_surf
bool	extended_
float	gpuKeypointsRatio_
bool	gpuVersion_
double	hessianThreshold_
int	nOctaveLayers_
int	nOctaves_
bool	upright_

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 250 of file Features2d.h.

Constructor & Destructor Documentation

SURF()

rtabmap::SURF::SURF

(

const ParametersMap &

parameters = ParametersMap()

)

Definition at line 946 of file Features2d.cpp.

~SURF()

rtabmap::SURF::~SURF ( )

virtual

Definition at line 958 of file Features2d.cpp.

Member Function Documentation

generateDescriptorsImpl()

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

privatevirtual

Implements rtabmap::Feature2D.

Reimplemented in rtabmap::SURF_DAISY, and rtabmap::SURF_FREAK.

Definition at line 1039 of file Features2d.cpp.

generateKeypointsImpl()

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

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 1005 of file Features2d.cpp.

getType()

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

inlinevirtual

Implements rtabmap::Feature2D.

Reimplemented in rtabmap::SURF_DAISY, and rtabmap::SURF_FREAK.

Definition at line 257 of file Features2d.h.

parseParameters()

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

virtual

Reimplemented from rtabmap::Feature2D.

Reimplemented in rtabmap::SURF_DAISY, and rtabmap::SURF_FREAK.

Definition at line 962 of file Features2d.cpp.

Member Data Documentation

_gpuSurf

cv::Ptr<CV_SURF_GPU> rtabmap::SURF::_gpuSurf

private

Definition at line 273 of file Features2d.h.

_surf

cv::Ptr<CV_SURF> rtabmap::SURF::_surf

private

Definition at line 272 of file Features2d.h.

extended_

bool rtabmap::SURF::extended_

private

Definition at line 267 of file Features2d.h.

gpuKeypointsRatio_

float rtabmap::SURF::gpuKeypointsRatio_

private

Definition at line 269 of file Features2d.h.

gpuVersion_

bool rtabmap::SURF::gpuVersion_

private

Definition at line 270 of file Features2d.h.

hessianThreshold_

double rtabmap::SURF::hessianThreshold_

private

Definition at line 264 of file Features2d.h.

nOctaveLayers_

int rtabmap::SURF::nOctaveLayers_

private

Definition at line 266 of file Features2d.h.

nOctaves_

int rtabmap::SURF::nOctaves_

private

Definition at line 265 of file Features2d.h.

upright_

bool rtabmap::SURF::upright_

private

Definition at line 268 of file Features2d.h.

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

• Features2d.h
• Features2d.cpp