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

#include <Features2d.h>

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

Public Member Functions

virtual Feature2D::Type getType () const
 
virtual void parseParameters (const ParametersMap &parameters)
 
 SuperPointTorch (const ParametersMap &parameters=ParametersMap())
 
virtual ~SuperPointTorch ()
 
- 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 ParametersMapgetParameters () 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

bool cuda_
 
int minDistance_
 
bool nms_
 
std::string path_
 
cv::Ptr< SPDetectorsuperPoint_
 
float 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 Feature2Dcreate (const ParametersMap &parameters=ParametersMap())
 
static Feature2Dcreate (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 586 of file Features2d.h.

Constructor & Destructor Documentation

◆ SuperPointTorch()

rtabmap::SuperPointTorch::SuperPointTorch ( const ParametersMap parameters = ParametersMap())

Definition at line 2145 of file Features2d.cpp.

◆ ~SuperPointTorch()

rtabmap::SuperPointTorch::~SuperPointTorch ( )
virtual

Definition at line 2155 of file Features2d.cpp.

Member Function Documentation

◆ generateDescriptorsImpl()

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

Implements rtabmap::Feature2D.

Definition at line 2212 of file Features2d.cpp.

◆ generateKeypointsImpl()

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

Implements rtabmap::Feature2D.

Definition at line 2189 of file Features2d.cpp.

◆ getType()

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

Implements rtabmap::Feature2D.

Definition at line 593 of file Features2d.h.

◆ parseParameters()

void rtabmap::SuperPointTorch::parseParameters ( const ParametersMap parameters)
virtual

Reimplemented from rtabmap::Feature2D.

Definition at line 2159 of file Features2d.cpp.

Member Data Documentation

◆ cuda_

bool rtabmap::SuperPointTorch::cuda_
private

Definition at line 605 of file Features2d.h.

◆ minDistance_

int rtabmap::SuperPointTorch::minDistance_
private

Definition at line 604 of file Features2d.h.

◆ nms_

bool rtabmap::SuperPointTorch::nms_
private

Definition at line 603 of file Features2d.h.

◆ path_

std::string rtabmap::SuperPointTorch::path_
private

Definition at line 601 of file Features2d.h.

◆ superPoint_

cv::Ptr<SPDetector> rtabmap::SuperPointTorch::superPoint_
private

Definition at line 599 of file Features2d.h.

◆ threshold_

float rtabmap::SuperPointTorch::threshold_
private

Definition at line 602 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