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

#include <SuperPoint.h>

Public Member Functions

cv::Mat compute (const std::vector< cv::KeyPoint > &keypoints)
 
std::vector< cv::KeyPoint > detect (const cv::Mat &img, const cv::Mat &mask=cv::Mat())
 
void setMinDistance (float minDistance)
 
void SetNMS (bool enabled)
 
void setThreshold (float threshold)
 
 SPDetector (const std::string &modelPath, float threshold=0.2f, bool nms=true, int minDistance=4, bool cuda=false)
 
virtual ~SPDetector ()
 

Private Attributes

bool cuda_
 
torch::Tensor desc_
 
bool detected_
 
int minDistance_
 
std::shared_ptr< SuperPointmodel_
 
bool nms_
 
torch::Tensor prob_
 
float threshold_
 

Detailed Description

Definition at line 49 of file SuperPoint.h.

Constructor & Destructor Documentation

◆ SPDetector()

rtabmap::SPDetector::SPDetector ( const std::string modelPath,
float  threshold = 0.2f,
bool  nms = true,
int  minDistance = 4,
bool  cuda = false 
)

Definition at line 108 of file SuperPoint.cc.

◆ ~SPDetector()

rtabmap::SPDetector::~SPDetector ( )
virtual

Definition at line 138 of file SuperPoint.cc.

Member Function Documentation

◆ compute()

cv::Mat rtabmap::SPDetector::compute ( const std::vector< cv::KeyPoint > &  keypoints)

Definition at line 209 of file SuperPoint.cc.

◆ detect()

std::vector< cv::KeyPoint > rtabmap::SPDetector::detect ( const cv::Mat img,
const cv::Mat mask = cv::Mat() 
)

Definition at line 142 of file SuperPoint.cc.

◆ setMinDistance()

void rtabmap::SPDetector::setMinDistance ( float  minDistance)
inline

Definition at line 58 of file SuperPoint.h.

◆ SetNMS()

void rtabmap::SPDetector::SetNMS ( bool  enabled)
inline

Definition at line 57 of file SuperPoint.h.

◆ setThreshold()

void rtabmap::SPDetector::setThreshold ( float  threshold)
inline

Definition at line 56 of file SuperPoint.h.

Member Data Documentation

◆ cuda_

bool rtabmap::SPDetector::cuda_
private

Definition at line 68 of file SuperPoint.h.

◆ desc_

torch::Tensor rtabmap::SPDetector::desc_
private

Definition at line 63 of file SuperPoint.h.

◆ detected_

bool rtabmap::SPDetector::detected_
private

Definition at line 70 of file SuperPoint.h.

◆ minDistance_

int rtabmap::SPDetector::minDistance_
private

Definition at line 67 of file SuperPoint.h.

◆ model_

std::shared_ptr<SuperPoint> rtabmap::SPDetector::model_
private

Definition at line 61 of file SuperPoint.h.

◆ nms_

bool rtabmap::SPDetector::nms_
private

Definition at line 66 of file SuperPoint.h.

◆ prob_

torch::Tensor rtabmap::SPDetector::prob_
private

Definition at line 62 of file SuperPoint.h.

◆ threshold_

float rtabmap::SPDetector::threshold_
private

Definition at line 65 of file SuperPoint.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