Features2d.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
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15 
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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27 
28 #ifndef FEATURES2D_H_
29 #define FEATURES2D_H_
30 
31 #include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
32 
33 #include <opencv2/highgui/highgui.hpp>
34 #include <opencv2/core/core.hpp>
35 #include <opencv2/features2d/features2d.hpp>
36 #include <list>
39 
40 #if CV_MAJOR_VERSION < 3
41 namespace cv{
42 class SURF;
43 class SIFT;
44 namespace gpu {
45  class SURF_GPU;
46  class ORB_GPU;
47  class FAST_GPU;
48 }
49 }
50 typedef cv::SIFT CV_SIFT;
51 typedef cv::SURF CV_SURF;
52 typedef cv::FastFeatureDetector CV_FAST;
53 typedef cv::FREAK CV_FREAK;
54 typedef cv::GFTTDetector CV_GFTT;
55 typedef cv::BriefDescriptorExtractor CV_BRIEF;
56 typedef cv::BRISK CV_BRISK;
57 typedef cv::gpu::SURF_GPU CV_SURF_GPU;
58 typedef cv::gpu::ORB_GPU CV_ORB_GPU;
59 typedef cv::gpu::FAST_GPU CV_FAST_GPU;
60 #else
61 namespace cv{
62 namespace xfeatures2d {
63 class FREAK;
64 class DAISY;
65 class BriefDescriptorExtractor;
66 #if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
67 class SIFT;
68 #endif
69 class SURF;
70 }
71 namespace cuda {
72 class FastFeatureDetector;
73 class ORB;
74 class SURF_CUDA;
75 }
76 }
77 #if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
78 typedef cv::xfeatures2d::SIFT CV_SIFT;
79 #else
80 typedef cv::SIFT CV_SIFT; // SIFT is back in features2d since 4.4.0 / 3.4.11
81 #endif
82 typedef cv::xfeatures2d::SURF CV_SURF;
83 typedef cv::FastFeatureDetector CV_FAST;
84 typedef cv::xfeatures2d::FREAK CV_FREAK;
85 typedef cv::xfeatures2d::DAISY CV_DAISY;
86 typedef cv::GFTTDetector CV_GFTT;
87 typedef cv::xfeatures2d::BriefDescriptorExtractor CV_BRIEF;
88 typedef cv::BRISK CV_BRISK;
89 typedef cv::ORB CV_ORB;
90 typedef cv::cuda::SURF_CUDA CV_SURF_GPU;
91 typedef cv::cuda::ORB CV_ORB_GPU;
92 typedef cv::cuda::FastFeatureDetector CV_FAST_GPU;
93 #endif
94 
95 namespace rtabmap {
96 
97 class ORBextractor;
98 class SPDetector;
99 
100 class Stereo;
101 #if CV_MAJOR_VERSION < 3
102 class CV_ORB;
103 #endif
104 
105 // Feature2D
106 class RTABMAP_CORE_EXPORT Feature2D {
107 public:
108  enum Type {kFeatureUndef=-1,
109  kFeatureSurf=0,
110  kFeatureSift=1,
111  kFeatureOrb=2,
112  kFeatureFastFreak=3,
113  kFeatureFastBrief=4,
114  kFeatureGfttFreak=5,
115  kFeatureGfttBrief=6,
116  kFeatureBrisk=7,
117  kFeatureGfttOrb=8, //new 0.10.11
118  kFeatureKaze=9, //new 0.13.2
119  kFeatureOrbOctree=10, //new 0.19.2
120  kFeatureSuperPointTorch=11, //new 0.19.7
121  kFeatureSurfFreak=12, //new 0.20.4
122  kFeatureGfttDaisy=13, //new 0.20.6
123  kFeatureSurfDaisy=14, //new 0.20.6
124  kFeaturePyDetector=15}; //new 0.20.8
125 
126  static std::string typeName(Type type)
127  {
128  switch(type){
129  case kFeatureSurf:
130  return "SURF";
131  case kFeatureSift:
132  return "SIFT";
133  case kFeatureOrb:
134  return "ORB";
135  case kFeatureFastFreak:
136  return "FAST+FREAK";
137  case kFeatureFastBrief:
138  return "FAST+BRIEF";
139  case kFeatureGfttFreak:
140  return "GFTT+Freak";
141  case kFeatureGfttBrief:
142  return "GFTT+Brief";
143  case kFeatureBrisk:
144  return "BRISK";
145  case kFeatureGfttOrb:
146  return "GFTT+ORB";
147  case kFeatureKaze:
148  return "KAZE";
149  case kFeatureOrbOctree:
150  return "ORB-OCTREE";
151  case kFeatureSuperPointTorch:
152  return "SUPERPOINT";
153  case kFeatureSurfFreak:
154  return "SURF+Freak";
155  case kFeatureGfttDaisy:
156  return "GFTT+Daisy";
157  case kFeatureSurfDaisy:
158  return "SURF+Daisy";
159  default:
160  return "Unknown";
161  }
162  }
163 
164  static Feature2D * create(const ParametersMap & parameters = ParametersMap());
165  static Feature2D * create(Feature2D::Type type, const ParametersMap & parameters = ParametersMap()); // for convenience
166 
167  static void filterKeypointsByDepth(
168  std::vector<cv::KeyPoint> & keypoints,
169  const cv::Mat & depth,
170  float minDepth,
171  float maxDepth);
172  static void filterKeypointsByDepth(
173  std::vector<cv::KeyPoint> & keypoints,
174  cv::Mat & descriptors,
175  const cv::Mat & depth,
176  float minDepth,
177  float maxDepth);
178  static void filterKeypointsByDepth(
179  std::vector<cv::KeyPoint> & keypoints,
180  cv::Mat & descriptors,
181  std::vector<cv::Point3f> & keypoints3D,
182  float minDepth,
183  float maxDepth);
184 
185  static void filterKeypointsByDisparity(
186  std::vector<cv::KeyPoint> & keypoints,
187  const cv::Mat & disparity,
188  float minDisparity);
189  static void filterKeypointsByDisparity(
190  std::vector<cv::KeyPoint> & keypoints,
191  cv::Mat & descriptors,
192  const cv::Mat & disparity,
193  float minDisparity);
194 
195  static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, int maxKeypoints, const cv::Size & imageSize = cv::Size(), bool ssc = false);
196  static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, cv::Mat & descriptors, int maxKeypoints, const cv::Size & imageSize = cv::Size(), bool ssc = false);
197  static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & keypoints3D, cv::Mat & descriptors, int maxKeypoints, const cv::Size & imageSize = cv::Size(), bool ssc = false);
198  static void limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, std::vector<bool> & inliers, int maxKeypoints, const cv::Size & imageSize = cv::Size(), bool ssc = false);
199  static void limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, std::vector<bool> & inliers, int maxKeypoints, const cv::Size & imageSize, int gridRows, int gridCols, bool ssc = false);
200 
201  static cv::Rect computeRoi(const cv::Mat & image, const std::string & roiRatios);
202  static cv::Rect computeRoi(const cv::Mat & image, const std::vector<float> & roiRatios);
203 
204  int getMaxFeatures() const {return maxFeatures_;}
205  bool getSSC() const {return SSC_;}
206  float getMinDepth() const {return _minDepth;}
207  float getMaxDepth() const {return _maxDepth;}
208  int getGridRows() const {return gridRows_;}
209  int getGridCols() const {return gridCols_;}
210 
211 public:
212  virtual ~Feature2D();
213 
214  std::vector<cv::KeyPoint> generateKeypoints(
215  const cv::Mat & image,
216  const cv::Mat & mask = cv::Mat());
217  cv::Mat generateDescriptors(
218  const cv::Mat & image,
219  std::vector<cv::KeyPoint> & keypoints) const;
220  std::vector<cv::Point3f> generateKeypoints3D(
221  const SensorData & data,
222  const std::vector<cv::KeyPoint> & keypoints) const;
223 
224  virtual void parseParameters(const ParametersMap & parameters);
225  virtual const ParametersMap & getParameters() const {return parameters_;}
226  virtual Feature2D::Type getType() const = 0;
227 
228 protected:
229  Feature2D(const ParametersMap & parameters = ParametersMap());
230 
231 private:
232  virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) = 0;
233  virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const = 0;
234 
235 private:
238  bool SSC_;
239  float _maxDepth; // 0=inf
240  float _minDepth;
241  std::vector<float> _roiRatios; // size 4
244  double _subPixEps;
247  // Stereo stuff
249 };
250 
251 //SURF
252 class RTABMAP_CORE_EXPORT SURF : public Feature2D
253 {
254 public:
255  SURF(const ParametersMap & parameters = ParametersMap());
256  virtual ~SURF();
257 
258  virtual void parseParameters(const ParametersMap & parameters);
259  virtual Feature2D::Type getType() const {return kFeatureSurf;}
260 
261 private:
262  virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
263  virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
264 
265 private:
269  bool extended_;
270  bool upright_;
273 
274  cv::Ptr<CV_SURF> _surf;
275  cv::Ptr<CV_SURF_GPU> _gpuSurf;
276 };
277 
278 //SIFT
279 class RTABMAP_CORE_EXPORT SIFT : public Feature2D
280 {
281 public:
282  SIFT(const ParametersMap & parameters = ParametersMap());
283  virtual ~SIFT();
284 
285  virtual void parseParameters(const ParametersMap & parameters);
286  virtual Feature2D::Type getType() const {return kFeatureSift;}
287 
288 private:
289  virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
290  virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
291 
292 private:
296  double sigma_;
297  bool rootSIFT_;
298 
299  cv::Ptr<CV_SIFT> _sift;
300 };
301 
302 //ORB
303 class RTABMAP_CORE_EXPORT ORB : public Feature2D
304 {
305 public:
306  ORB(const ParametersMap & parameters = ParametersMap());
307  virtual ~ORB();
308 
309  virtual void parseParameters(const ParametersMap & parameters);
310  virtual Feature2D::Type getType() const {return kFeatureOrb;}
311 
312 private:
313  virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
314  virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
315 
316 private:
318  int nLevels_;
321  int WTA_K_;
324  bool gpu_;
325 
328 
329  cv::Ptr<CV_ORB> _orb;
330  cv::Ptr<CV_ORB_GPU> _gpuOrb;
331 };
332 
333 //FAST
334 class RTABMAP_CORE_EXPORT FAST : public Feature2D
335 {
336 public:
337  FAST(const ParametersMap & parameters = ParametersMap());
338  virtual ~FAST();
339 
340  virtual void parseParameters(const ParametersMap & parameters);
341  virtual Feature2D::Type getType() const {return kFeatureUndef;}
342 
343 private:
344  virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
345  virtual cv::Mat generateDescriptorsImpl(const cv::Mat &, std::vector<cv::KeyPoint> &) const {return cv::Mat();}
346 
347 private:
350  bool gpu_;
356  int fastCV_;
357 
361  uint32_t* fastCVCorners_= NULL;
362  uint32_t* fastCVCornerScores_ = NULL;
363  void* fastCVTempBuf_ = NULL;
364 
365  cv::Ptr<cv::FeatureDetector> _fast;
366  cv::Ptr<CV_FAST_GPU> _gpuFast;
367 };
368 
369 //FAST_BRIEF
370 class RTABMAP_CORE_EXPORT FAST_BRIEF : public FAST
371 {
372 public:
373  FAST_BRIEF(const ParametersMap & parameters = ParametersMap());
374  virtual ~FAST_BRIEF();
375 
376  virtual void parseParameters(const ParametersMap & parameters);
377  virtual Feature2D::Type getType() const {return kFeatureFastBrief;}
378 
379 private:
380  virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
381 
382 private:
383  int bytes_;
384 
385  cv::Ptr<CV_BRIEF> _brief;
386 };
387 
388 //FAST_FREAK
389 class RTABMAP_CORE_EXPORT FAST_FREAK : public FAST
390 {
391 public:
392  FAST_FREAK(const ParametersMap & parameters = ParametersMap());
393  virtual ~FAST_FREAK();
394 
395  virtual void parseParameters(const ParametersMap & parameters);
396  virtual Feature2D::Type getType() const {return kFeatureFastFreak;}
397 
398 private:
399  virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
400 
401 private:
406 
407  cv::Ptr<CV_FREAK> _freak;
408 };
409 
410 //GFTT
411 class RTABMAP_CORE_EXPORT GFTT : public Feature2D
412 {
413 public:
414  GFTT(const ParametersMap & parameters = ParametersMap());
415  virtual ~GFTT();
416 
417  virtual void parseParameters(const ParametersMap & parameters);
418 
419 private:
420  virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
421 
422 private:
424  double _minDistance;
427  double _k;
428 
429  cv::Ptr<CV_GFTT> _gftt;
430 };
431 
432 //GFTT_BRIEF
433 class RTABMAP_CORE_EXPORT GFTT_BRIEF : public GFTT
434 {
435 public:
436  GFTT_BRIEF(const ParametersMap & parameters = ParametersMap());
437  virtual ~GFTT_BRIEF();
438 
439  virtual void parseParameters(const ParametersMap & parameters);
440  virtual Feature2D::Type getType() const {return kFeatureGfttBrief;}
441 
442 private:
443  virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
444 
445 private:
446  int bytes_;
447 
448  cv::Ptr<CV_BRIEF> _brief;
449 };
450 
451 //GFTT_FREAK
452 class RTABMAP_CORE_EXPORT GFTT_FREAK : public GFTT
453 {
454 public:
455  GFTT_FREAK(const ParametersMap & parameters = ParametersMap());
456  virtual ~GFTT_FREAK();
457 
458  virtual void parseParameters(const ParametersMap & parameters);
459  virtual Feature2D::Type getType() const {return kFeatureGfttFreak;}
460 
461 private:
462  virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
463 
464 private:
469 
470  cv::Ptr<CV_FREAK> _freak;
471 };
472 
473 //SURF_FREAK
474 class RTABMAP_CORE_EXPORT SURF_FREAK : public SURF
475 {
476 public:
477  SURF_FREAK(const ParametersMap & parameters = ParametersMap());
478  virtual ~SURF_FREAK();
479 
480  virtual void parseParameters(const ParametersMap & parameters);
481  virtual Feature2D::Type getType() const {return kFeatureSurfFreak;}
482 
483 private:
484  virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
485 
486 private:
491 
492  cv::Ptr<CV_FREAK> _freak;
493 };
494 
495 //GFTT_ORB
496 class RTABMAP_CORE_EXPORT GFTT_ORB : public GFTT
497 {
498 public:
499  GFTT_ORB(const ParametersMap & parameters = ParametersMap());
500  virtual ~GFTT_ORB();
501 
502  virtual void parseParameters(const ParametersMap & parameters);
503  virtual Feature2D::Type getType() const {return kFeatureGfttOrb;}
504 
505 private:
506  virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
507 
508 private:
510 };
511 
512 //BRISK
513 class RTABMAP_CORE_EXPORT BRISK : public Feature2D
514 {
515 public:
516  BRISK(const ParametersMap & parameters = ParametersMap());
517  virtual ~BRISK();
518 
519  virtual void parseParameters(const ParametersMap & parameters);
520  virtual Feature2D::Type getType() const {return kFeatureBrisk;}
521 
522 private:
523  virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
524  virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
525 
526 private:
527  int thresh_;
528  int octaves_;
530 
531  cv::Ptr<CV_BRISK> brisk_;
532 };
533 
534 //KAZE
535 class RTABMAP_CORE_EXPORT KAZE : public Feature2D
536 {
537 public:
538  KAZE(const ParametersMap & parameters = ParametersMap());
539  virtual ~KAZE();
540 
541  virtual void parseParameters(const ParametersMap & parameters);
542  virtual Feature2D::Type getType() const { return kFeatureKaze; }
543 
544 private:
545  virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
546  virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
547 
548 private:
549  bool extended_;
550  bool upright_;
551  float threshold_;
555 
556 #if CV_MAJOR_VERSION > 2
557  cv::Ptr<cv::KAZE> kaze_;
558 #endif
559 };
560 
561 //ORB OCTREE
562 class RTABMAP_CORE_EXPORT ORBOctree : public Feature2D
563 {
564 public:
565  ORBOctree(const ParametersMap & parameters = ParametersMap());
566  virtual ~ORBOctree();
567 
568  virtual void parseParameters(const ParametersMap & parameters);
569  virtual Feature2D::Type getType() const {return kFeatureOrbOctree;}
570 
571 private:
572  virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
573  virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
574 
575 private:
577  int nLevels_;
582 
583  cv::Ptr<ORBextractor> _orb;
584  cv::Mat descriptors_;
585 };
586 
587 //SuperPointTorch
588 class RTABMAP_CORE_EXPORT SuperPointTorch : public Feature2D
589 {
590 public:
591  SuperPointTorch(const ParametersMap & parameters = ParametersMap());
592  virtual ~SuperPointTorch();
593 
594  virtual void parseParameters(const ParametersMap & parameters);
595  virtual Feature2D::Type getType() const { return kFeatureSuperPointTorch; }
596 
597 private:
598  virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
599  virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
600 
601  cv::Ptr<SPDetector> superPoint_;
602 
603  std::string path_;
604  float threshold_;
605  bool nms_;
607  bool cuda_;
608 };
609 
610 //GFTT_DAISY
611 class RTABMAP_CORE_EXPORT GFTT_DAISY : public GFTT
612 {
613 public:
614  GFTT_DAISY(const ParametersMap & parameters = ParametersMap());
615  virtual ~GFTT_DAISY();
616 
617  virtual void parseParameters(const ParametersMap & parameters);
618  virtual Feature2D::Type getType() const {return kFeatureGfttDaisy;}
619 
620 private:
621  virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
622 
623 private:
628 
629 #if CV_MAJOR_VERSION > 2
630  cv::Ptr<CV_DAISY> _daisy;
631 #endif
632 };
633 
634 //SURF_DAISY
635 class RTABMAP_CORE_EXPORT SURF_DAISY : public SURF
636 {
637 public:
638  SURF_DAISY(const ParametersMap & parameters = ParametersMap());
639  virtual ~SURF_DAISY();
640 
641  virtual void parseParameters(const ParametersMap & parameters);
642  virtual Feature2D::Type getType() const {return kFeatureSurfDaisy;}
643 
644 private:
645  virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
646 
647 private:
652 
653 #if CV_MAJOR_VERSION > 2
654  cv::Ptr<CV_DAISY> _daisy;
655 #endif
656 };
657 
658 }
659 
660 #endif /* FEATURES2D_H_ */
rtabmap::SensorData
Definition: SensorData.h:51
create
ADT create(const Signature &signature)
rtabmap::FAST_FREAK::scaleNormalized_
bool scaleNormalized_
Definition: Features2d.h:403
rtabmap::SURF_DAISY::getType
virtual Feature2D::Type getType() const
Definition: Features2d.h:642
rtabmap::GFTT_BRIEF::bytes_
int bytes_
Definition: Features2d.h:446
rtabmap::util2d::computeRoi
cv::Rect RTABMAP_CORE_EXPORT computeRoi(const cv::Mat &image, const std::string &roiRatios)
Definition: util2d.cpp:1113
rtabmap::GFTT_FREAK::orientationNormalized_
bool orientationNormalized_
Definition: Features2d.h:465
rtabmap::ORBOctree::patchSize_
int patchSize_
Definition: Features2d.h:578
rtabmap::FAST::gridCols_
int gridCols_
Definition: Features2d.h:355
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GLM_FUNC_DECL genIType mask(genIType const &count)
rtabmap::ORB::_orb
cv::Ptr< CV_ORB > _orb
Definition: Features2d.h:329
rtabmap::KAZE::extended_
bool extended_
Definition: Features2d.h:549
rtabmap::GFTT_DAISY::scaleNormalized_
bool scaleNormalized_
Definition: Features2d.h:625
rtabmap::SURF_FREAK::getType
virtual Feature2D::Type getType() const
Definition: Features2d.h:481
rtabmap::FAST_BRIEF::bytes_
int bytes_
Definition: Features2d.h:383
rtabmap::ORBOctree
Definition: Features2d.h:562
rtabmap::GFTT_ORB::_orb
ORB _orb
Definition: Features2d.h:509
rtabmap::FAST_BRIEF
Definition: Features2d.h:370
rtabmap::SURF::nOctaves_
int nOctaves_
Definition: Features2d.h:267
rtabmap::GFTT::_useHarrisDetector
bool _useHarrisDetector
Definition: Features2d.h:426
rtabmap::GFTT_BRIEF::getType
virtual Feature2D::Type getType() const
Definition: Features2d.h:440
rtabmap::FAST
Definition: Features2d.h:334
rtabmap::GFTT_FREAK::nOctaves_
int nOctaves_
Definition: Features2d.h:468
rtabmap::SuperPointTorch::superPoint_
cv::Ptr< SPDetector > superPoint_
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rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:09