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

#include <Features2d.h>

Inheritance diagram for rtabmap::FAST:
Inheritance graph
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Public Member Functions

 FAST (const ParametersMap &parameters=ParametersMap())
 
virtual Feature2D::Type getType () const
 
virtual void parseParameters (const ParametersMap &parameters)
 
virtual ~FAST ()
 
- 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
 
bool getSSC () const
 
virtual ~Feature2D ()
 

Private Member Functions

virtual cv::Mat generateDescriptorsImpl (const cv::Mat &, std::vector< cv::KeyPoint > &) 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::FeatureDetector > _fast
 
cv::Ptr< CV_FAST_GPU_gpuFast
 
int fastCV_
 
uint32_tfastCVCorners_ = NULL
 
uint32_tfastCVCornerScores_ = NULL
 
bool fastCVinit_
 
int fastCVLastImageHeight_
 
int fastCVMaxFeatures_
 
void * fastCVTempBuf_ = NULL
 
bool gpu_
 
double gpuKeypointsRatio_
 
int gridCols_
 
int gridRows_
 
int maxThreshold_
 
int minThreshold_
 
bool nonmaxSuppression_
 
int 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 (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
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)
 
static std::string typeName (Type type)
 
- Protected Member Functions inherited from rtabmap::Feature2D
 Feature2D (const ParametersMap &parameters=ParametersMap())
 

Detailed Description

Definition at line 334 of file Features2d.h.

Constructor & Destructor Documentation

◆ FAST()

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

Definition at line 1428 of file Features2d.cpp.

◆ ~FAST()

rtabmap::FAST::~FAST ( )
virtual

Definition at line 1481 of file Features2d.cpp.

Member Function Documentation

◆ generateDescriptorsImpl()

virtual cv::Mat rtabmap::FAST::generateDescriptorsImpl ( const cv::Mat ,
std::vector< cv::KeyPoint > &   
) const
inlineprivatevirtual

Implements rtabmap::Feature2D.

Reimplemented in rtabmap::FAST_FREAK, and rtabmap::FAST_BRIEF.

Definition at line 345 of file Features2d.h.

◆ generateKeypointsImpl()

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

Implements rtabmap::Feature2D.

Definition at line 1590 of file Features2d.cpp.

◆ getType()

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

Implements rtabmap::Feature2D.

Reimplemented in rtabmap::FAST_FREAK, and rtabmap::FAST_BRIEF.

Definition at line 341 of file Features2d.h.

◆ parseParameters()

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

Reimplemented from rtabmap::Feature2D.

Reimplemented in rtabmap::FAST_FREAK, and rtabmap::FAST_BRIEF.

Definition at line 1498 of file Features2d.cpp.

Member Data Documentation

◆ _fast

cv::Ptr<cv::FeatureDetector> rtabmap::FAST::_fast
private

Definition at line 365 of file Features2d.h.

◆ _gpuFast

cv::Ptr<CV_FAST_GPU> rtabmap::FAST::_gpuFast
private

Definition at line 366 of file Features2d.h.

◆ fastCV_

int rtabmap::FAST::fastCV_
private

Definition at line 356 of file Features2d.h.

◆ fastCVCorners_

uint32_t* rtabmap::FAST::fastCVCorners_ = NULL
private

Definition at line 361 of file Features2d.h.

◆ fastCVCornerScores_

uint32_t* rtabmap::FAST::fastCVCornerScores_ = NULL
private

Definition at line 362 of file Features2d.h.

◆ fastCVinit_

bool rtabmap::FAST::fastCVinit_
private

Definition at line 358 of file Features2d.h.

◆ fastCVLastImageHeight_

int rtabmap::FAST::fastCVLastImageHeight_
private

Definition at line 360 of file Features2d.h.

◆ fastCVMaxFeatures_

int rtabmap::FAST::fastCVMaxFeatures_
private

Definition at line 359 of file Features2d.h.

◆ fastCVTempBuf_

void* rtabmap::FAST::fastCVTempBuf_ = NULL
private

Definition at line 363 of file Features2d.h.

◆ gpu_

bool rtabmap::FAST::gpu_
private

Definition at line 350 of file Features2d.h.

◆ gpuKeypointsRatio_

double rtabmap::FAST::gpuKeypointsRatio_
private

Definition at line 351 of file Features2d.h.

◆ gridCols_

int rtabmap::FAST::gridCols_
private

Definition at line 355 of file Features2d.h.

◆ gridRows_

int rtabmap::FAST::gridRows_
private

Definition at line 354 of file Features2d.h.

◆ maxThreshold_

int rtabmap::FAST::maxThreshold_
private

Definition at line 353 of file Features2d.h.

◆ minThreshold_

int rtabmap::FAST::minThreshold_
private

Definition at line 352 of file Features2d.h.

◆ nonmaxSuppression_

bool rtabmap::FAST::nonmaxSuppression_
private

Definition at line 349 of file Features2d.h.

◆ threshold_

int rtabmap::FAST::threshold_
private

Definition at line 348 of file Features2d.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:27