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

#include <Features2d.h>

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

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

cv::Ptr< CV_SIFT_sift
 
double contrastThreshold_
 
double edgeThreshold_
 
int nOctaveLayers_
 
bool rootSIFT_
 
double sigma_
 

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 279 of file Features2d.h.

Constructor & Destructor Documentation

◆ SIFT()

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

Definition at line 1141 of file Features2d.cpp.

◆ ~SIFT()

rtabmap::SIFT::~SIFT ( )
virtual

Definition at line 1151 of file Features2d.cpp.

Member Function Documentation

◆ generateDescriptorsImpl()

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

Implements rtabmap::Feature2D.

Definition at line 1202 of file Features2d.cpp.

◆ generateKeypointsImpl()

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

Implements rtabmap::Feature2D.

Definition at line 1180 of file Features2d.cpp.

◆ getType()

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

Implements rtabmap::Feature2D.

Definition at line 286 of file Features2d.h.

◆ parseParameters()

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

Reimplemented from rtabmap::Feature2D.

Definition at line 1155 of file Features2d.cpp.

Member Data Documentation

◆ _sift

cv::Ptr<CV_SIFT> rtabmap::SIFT::_sift
private

Definition at line 299 of file Features2d.h.

◆ contrastThreshold_

double rtabmap::SIFT::contrastThreshold_
private

Definition at line 294 of file Features2d.h.

◆ edgeThreshold_

double rtabmap::SIFT::edgeThreshold_
private

Definition at line 295 of file Features2d.h.

◆ nOctaveLayers_

int rtabmap::SIFT::nOctaveLayers_
private

Definition at line 293 of file Features2d.h.

◆ rootSIFT_

bool rtabmap::SIFT::rootSIFT_
private

Definition at line 297 of file Features2d.h.

◆ sigma_

double rtabmap::SIFT::sigma_
private

Definition at line 296 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 02:50:28