Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap::Feature2D Class Referenceabstract

#include <Features2d.h>

Inheritance diagram for rtabmap::Feature2D:
Inheritance graph
[legend]

Public Types

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
}
 

Public Member Functions

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
 
bool getSSC () const
 
virtual Feature2D::Type getType () const =0
 
virtual void parseParameters (const ParametersMap &parameters)
 
virtual ~Feature2D ()
 

Static Public Member Functions

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 (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

 Feature2D (const ParametersMap &parameters=ParametersMap())
 

Private Member Functions

virtual cv::Mat generateDescriptorsImpl (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const =0
 
virtual std::vector< cv::KeyPoint > generateKeypointsImpl (const cv::Mat &image, const cv::Rect &roi, const cv::Mat &mask=cv::Mat())=0
 

Private Attributes

float _maxDepth
 
float _minDepth
 
std::vector< float > _roiRatios
 
Stereo * _stereo
 
double _subPixEps
 
int _subPixIterations
 
int _subPixWinSize
 
int gridCols_
 
int gridRows_
 
int maxFeatures_
 
ParametersMap parameters_
 
bool SSC_
 

Detailed Description

Definition at line 106 of file Features2d.h.

Member Enumeration Documentation

◆ Type

enum rtabmap::Feature2D::Type
Enumerator
kFeatureUndef 
kFeatureSurf 
kFeatureSift 
kFeatureOrb 
kFeatureFastFreak 
kFeatureFastBrief 
kFeatureGfttFreak 
kFeatureGfttBrief 
kFeatureBrisk 
kFeatureGfttOrb 
kFeatureKaze 
kFeatureOrbOctree 
kFeatureSuperPointTorch 
kFeatureSurfFreak 
kFeatureGfttDaisy 
kFeatureSurfDaisy 
kFeaturePyDetector 

Definition at line 108 of file Features2d.h.

Constructor & Destructor Documentation

◆ ~Feature2D()

rtabmap::Feature2D::~Feature2D ( )
virtual

Definition at line 504 of file Features2d.cpp.

◆ Feature2D()

rtabmap::Feature2D::Feature2D ( const ParametersMap &  parameters = ParametersMap())
protected

Definition at line 489 of file Features2d.cpp.

Member Function Documentation

◆ computeRoi() [1/2]

cv::Rect rtabmap::Feature2D::computeRoi ( const cv::Mat &  image,
const std::string &  roiRatios 
)
static

Definition at line 476 of file Features2d.cpp.

◆ computeRoi() [2/2]

cv::Rect rtabmap::Feature2D::computeRoi ( const cv::Mat &  image,
const std::vector< float > &  roiRatios 
)
static

Definition at line 481 of file Features2d.cpp.

◆ create() [1/2]

Feature2D * rtabmap::Feature2D::create ( const ParametersMap &  parameters = ParametersMap())
static

Definition at line 569 of file Features2d.cpp.

◆ create() [2/2]

Feature2D * rtabmap::Feature2D::create ( Feature2D::Type  type,
const ParametersMap &  parameters = ParametersMap() 
)
static

Definition at line 575 of file Features2d.cpp.

◆ filterKeypointsByDepth() [1/3]

void rtabmap::Feature2D::filterKeypointsByDepth ( std::vector< cv::KeyPoint > &  keypoints,
const cv::Mat &  depth,
float  minDepth,
float  maxDepth 
)
static

Definition at line 85 of file Features2d.cpp.

◆ filterKeypointsByDepth() [2/3]

void rtabmap::Feature2D::filterKeypointsByDepth ( std::vector< cv::KeyPoint > &  keypoints,
cv::Mat &  descriptors,
const cv::Mat &  depth,
float  minDepth,
float  maxDepth 
)
static

Definition at line 95 of file Features2d.cpp.

◆ filterKeypointsByDepth() [3/3]

void rtabmap::Feature2D::filterKeypointsByDepth ( std::vector< cv::KeyPoint > &  keypoints,
cv::Mat &  descriptors,
std::vector< cv::Point3f > &  keypoints3D,
float  minDepth,
float  maxDepth 
)
static

Definition at line 157 of file Features2d.cpp.

◆ filterKeypointsByDisparity() [1/2]

void rtabmap::Feature2D::filterKeypointsByDisparity ( std::vector< cv::KeyPoint > &  keypoints,
const cv::Mat &  disparity,
float  minDisparity 
)
static

Definition at line 204 of file Features2d.cpp.

◆ filterKeypointsByDisparity() [2/2]

void rtabmap::Feature2D::filterKeypointsByDisparity ( std::vector< cv::KeyPoint > &  keypoints,
cv::Mat &  descriptors,
const cv::Mat &  disparity,
float  minDisparity 
)
static

Definition at line 213 of file Features2d.cpp.

◆ generateDescriptors()

cv::Mat rtabmap::Feature2D::generateDescriptors ( const cv::Mat &  image,
std::vector< cv::KeyPoint > &  keypoints 
) const

Definition at line 833 of file Features2d.cpp.

◆ generateDescriptorsImpl()

virtual cv::Mat rtabmap::Feature2D::generateDescriptorsImpl ( const cv::Mat &  image,
std::vector< cv::KeyPoint > &  keypoints 
) const
privatepure virtual

Implemented in rtabmap::SURF_DAISY, rtabmap::GFTT_DAISY, rtabmap::SuperPointTorch, rtabmap::ORBOctree, rtabmap::KAZE, rtabmap::BRISK, rtabmap::GFTT_ORB, rtabmap::SURF_FREAK, rtabmap::GFTT_FREAK, rtabmap::GFTT_BRIEF, rtabmap::FAST_FREAK, rtabmap::FAST_BRIEF, rtabmap::ORB, rtabmap::SIFT, rtabmap::SURF, rtabmap::PyDetector, and rtabmap::FAST.

◆ generateKeypoints()

std::vector< cv::KeyPoint > rtabmap::Feature2D::generateKeypoints ( const cv::Mat &  image,
const cv::Mat &  mask = cv::Mat() 
)

Definition at line 728 of file Features2d.cpp.

◆ generateKeypoints3D()

std::vector< cv::Point3f > rtabmap::Feature2D::generateKeypoints3D ( const SensorData &  data,
const std::vector< cv::KeyPoint > &  keypoints 
) const

Definition at line 849 of file Features2d.cpp.

◆ generateKeypointsImpl()

virtual std::vector<cv::KeyPoint> rtabmap::Feature2D::generateKeypointsImpl ( const cv::Mat &  image,
const cv::Rect &  roi,
const cv::Mat &  mask = cv::Mat() 
)
privatepure virtual

Implemented in rtabmap::SuperPointTorch, rtabmap::ORBOctree, rtabmap::KAZE, rtabmap::BRISK, rtabmap::GFTT, rtabmap::FAST, rtabmap::ORB, rtabmap::SIFT, rtabmap::SURF, and rtabmap::PyDetector.

◆ getGridCols()

int rtabmap::Feature2D::getGridCols ( ) const
inline

Definition at line 209 of file Features2d.h.

◆ getGridRows()

int rtabmap::Feature2D::getGridRows ( ) const
inline

Definition at line 208 of file Features2d.h.

◆ getMaxDepth()

float rtabmap::Feature2D::getMaxDepth ( ) const
inline

Definition at line 207 of file Features2d.h.

◆ getMaxFeatures()

int rtabmap::Feature2D::getMaxFeatures ( ) const
inline

Definition at line 204 of file Features2d.h.

◆ getMinDepth()

float rtabmap::Feature2D::getMinDepth ( ) const
inline

Definition at line 206 of file Features2d.h.

◆ getParameters()

virtual const ParametersMap& rtabmap::Feature2D::getParameters ( ) const
inlinevirtual

Definition at line 225 of file Features2d.h.

◆ getSSC()

bool rtabmap::Feature2D::getSSC ( ) const
inline

Definition at line 205 of file Features2d.h.

◆ getType()

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

Implemented in rtabmap::SURF_DAISY, rtabmap::GFTT_DAISY, rtabmap::SuperPointTorch, rtabmap::ORBOctree, rtabmap::KAZE, rtabmap::BRISK, rtabmap::GFTT_ORB, rtabmap::SURF_FREAK, rtabmap::GFTT_FREAK, rtabmap::GFTT_BRIEF, rtabmap::FAST_FREAK, rtabmap::FAST_BRIEF, rtabmap::FAST, rtabmap::ORB, rtabmap::SIFT, rtabmap::SURF, and rtabmap::PyDetector.

◆ limitKeypoints() [1/5]

void rtabmap::Feature2D::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

Definition at line 437 of file Features2d.cpp.

◆ limitKeypoints() [2/5]

void rtabmap::Feature2D::limitKeypoints ( const std::vector< cv::KeyPoint > &  keypoints,
std::vector< bool > &  inliers,
int  maxKeypoints,
const cv::Size &  imageSize = cv::Size(),
bool  ssc = false 
)
static

Definition at line 386 of file Features2d.cpp.

◆ limitKeypoints() [3/5]

void rtabmap::Feature2D::limitKeypoints ( std::vector< cv::KeyPoint > &  keypoints,
cv::Mat &  descriptors,
int  maxKeypoints,
const cv::Size &  imageSize = cv::Size(),
bool  ssc = false 
)
static

Definition at line 277 of file Features2d.cpp.

◆ limitKeypoints() [4/5]

void rtabmap::Feature2D::limitKeypoints ( std::vector< cv::KeyPoint > &  keypoints,
int  maxKeypoints,
const cv::Size &  imageSize = cv::Size(),
bool  ssc = false 
)
static

Definition at line 271 of file Features2d.cpp.

◆ limitKeypoints() [5/5]

void rtabmap::Feature2D::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

Definition at line 283 of file Features2d.cpp.

◆ parseParameters()

void rtabmap::Feature2D::parseParameters ( const ParametersMap &  parameters)
virtual

Reimplemented in rtabmap::SURF_DAISY, rtabmap::GFTT_DAISY, rtabmap::SuperPointTorch, rtabmap::ORBOctree, rtabmap::KAZE, rtabmap::BRISK, rtabmap::GFTT_ORB, rtabmap::SURF_FREAK, rtabmap::GFTT_FREAK, rtabmap::GFTT_BRIEF, rtabmap::GFTT, rtabmap::FAST_FREAK, rtabmap::FAST_BRIEF, rtabmap::FAST, rtabmap::ORB, rtabmap::SIFT, rtabmap::SURF, and rtabmap::PyDetector.

Definition at line 508 of file Features2d.cpp.

◆ typeName()

static std::string rtabmap::Feature2D::typeName ( Type  type)
inlinestatic

Definition at line 126 of file Features2d.h.

Member Data Documentation

◆ _maxDepth

float rtabmap::Feature2D::_maxDepth
private

Definition at line 239 of file Features2d.h.

◆ _minDepth

float rtabmap::Feature2D::_minDepth
private

Definition at line 240 of file Features2d.h.

◆ _roiRatios

std::vector<float> rtabmap::Feature2D::_roiRatios
private

Definition at line 241 of file Features2d.h.

◆ _stereo

Stereo* rtabmap::Feature2D::_stereo
private

Definition at line 248 of file Features2d.h.

◆ _subPixEps

double rtabmap::Feature2D::_subPixEps
private

Definition at line 244 of file Features2d.h.

◆ _subPixIterations

int rtabmap::Feature2D::_subPixIterations
private

Definition at line 243 of file Features2d.h.

◆ _subPixWinSize

int rtabmap::Feature2D::_subPixWinSize
private

Definition at line 242 of file Features2d.h.

◆ gridCols_

int rtabmap::Feature2D::gridCols_
private

Definition at line 246 of file Features2d.h.

◆ gridRows_

int rtabmap::Feature2D::gridRows_
private

Definition at line 245 of file Features2d.h.

◆ maxFeatures_

int rtabmap::Feature2D::maxFeatures_
private

Definition at line 237 of file Features2d.h.

◆ parameters_

ParametersMap rtabmap::Feature2D::parameters_
private

Definition at line 236 of file Features2d.h.

◆ SSC_

bool rtabmap::Feature2D::SSC_
private

Definition at line 238 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