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

#include <Features2d.h>

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

virtual Feature2D::Type getType () const
 
virtual void parseParameters (const ParametersMap &parameters)
 
 SURF (const ParametersMap &parameters=ParametersMap())
 
virtual ~SURF ()
 
- 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_SURF_GPU_gpuSurf
 
cv::Ptr< CV_SURF_surf
 
bool extended_
 
float gpuKeypointsRatio_
 
bool gpuVersion_
 
double hessianThreshold_
 
int nOctaveLayers_
 
int nOctaves_
 
bool upright_
 

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 252 of file Features2d.h.

Constructor & Destructor Documentation

◆ SURF()

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

Definition at line 1007 of file Features2d.cpp.

◆ ~SURF()

rtabmap::SURF::~SURF ( )
virtual

Definition at line 1019 of file Features2d.cpp.

Member Function Documentation

◆ generateDescriptorsImpl()

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

Implements rtabmap::Feature2D.

Reimplemented in rtabmap::SURF_DAISY, and rtabmap::SURF_FREAK.

Definition at line 1100 of file Features2d.cpp.

◆ generateKeypointsImpl()

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

Implements rtabmap::Feature2D.

Definition at line 1066 of file Features2d.cpp.

◆ getType()

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

Implements rtabmap::Feature2D.

Reimplemented in rtabmap::SURF_DAISY, and rtabmap::SURF_FREAK.

Definition at line 259 of file Features2d.h.

◆ parseParameters()

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

Reimplemented from rtabmap::Feature2D.

Reimplemented in rtabmap::SURF_DAISY, and rtabmap::SURF_FREAK.

Definition at line 1023 of file Features2d.cpp.

Member Data Documentation

◆ _gpuSurf

cv::Ptr<CV_SURF_GPU> rtabmap::SURF::_gpuSurf
private

Definition at line 275 of file Features2d.h.

◆ _surf

cv::Ptr<CV_SURF> rtabmap::SURF::_surf
private

Definition at line 274 of file Features2d.h.

◆ extended_

bool rtabmap::SURF::extended_
private

Definition at line 269 of file Features2d.h.

◆ gpuKeypointsRatio_

float rtabmap::SURF::gpuKeypointsRatio_
private

Definition at line 271 of file Features2d.h.

◆ gpuVersion_

bool rtabmap::SURF::gpuVersion_
private

Definition at line 272 of file Features2d.h.

◆ hessianThreshold_

double rtabmap::SURF::hessianThreshold_
private

Definition at line 266 of file Features2d.h.

◆ nOctaveLayers_

int rtabmap::SURF::nOctaveLayers_
private

Definition at line 268 of file Features2d.h.

◆ nOctaves_

int rtabmap::SURF::nOctaves_
private

Definition at line 267 of file Features2d.h.

◆ upright_

bool rtabmap::SURF::upright_
private

Definition at line 270 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