#include <opencv2/core/core.hpp>#include <opencv2/highgui/highgui.hpp>#include <opencv2/features2d/features2d.hpp>#include <opencv2/imgproc/imgproc.hpp>#include <vector>#include <algorithm>#include <iterator>#include <set>#include "ORBextractor.h"
Include dependency graph for ORBextractor.cc:
Go to the source code of this file.
Namespaces | |
| rtabmap | |
Macros | |
| #define | GET_VALUE(idx) |
Functions | |
| static void | rtabmap::computeDescriptors (const Mat &image, vector< KeyPoint > &keypoints, Mat &descriptors, const vector< Point > &pattern) |
| static void | rtabmap::computeOrbDescriptor (const KeyPoint &kpt, const Mat &img, const Point *pattern, uchar *desc) |
| static void | rtabmap::computeOrientation (const Mat &image, vector< KeyPoint > &keypoints, const vector< int > &umax, int halfPatchSize) |
| static float | rtabmap::IC_Angle (const Mat &image, Point2f pt, const vector< int > &u_max, int halfPatchSize) |
Variables | |
| static int | rtabmap::bit_pattern_31_ [256 *4] |
| const float | rtabmap::factorPI = (float)(CV_PI/180.f) |
Macro Definition Documentation
◆ GET_VALUE
| #define GET_VALUE | ( | idx | ) |
Value:
center[cvRound(pattern[idx].x*b + pattern[idx].y*a)*step + \
cvRound(pattern[idx].x*a - pattern[idx].y*b)]