rtabmap::SuperPointTorch Class Reference

#include <Features2d.h>

Inheritance diagram for rtabmap::SuperPointTorch:

Public Member Functions
virtual Feature2D::Type	getType () const
virtual void	parseParameters (const ParametersMap &parameters)
	SuperPointTorch (const ParametersMap &parameters=ParametersMap())
virtual	~SuperPointTorch ()
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 ParametersMap &	getParameters () 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
bool	cuda_
int	minDistance_
bool	nms_
std::string	path_
cv::Ptr< SPDetector >	superPoint_
float	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 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 inherited from rtabmap::Feature2D
	Feature2D (const ParametersMap &parameters=ParametersMap())

Detailed Description

Definition at line 588 of file Features2d.h.

Constructor & Destructor Documentation

SuperPointTorch()

rtabmap::SuperPointTorch::SuperPointTorch

(

const ParametersMap &

parameters = ParametersMap()

)

Definition at line 2224 of file Features2d.cpp.

~SuperPointTorch()

rtabmap::SuperPointTorch::~SuperPointTorch ( )

virtual

Definition at line 2234 of file Features2d.cpp.

Member Function Documentation

generateDescriptorsImpl()

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

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 2291 of file Features2d.cpp.

generateKeypointsImpl()

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

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 2268 of file Features2d.cpp.

getType()

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

inlinevirtual

Implements rtabmap::Feature2D.

Definition at line 595 of file Features2d.h.

parseParameters()

void rtabmap::SuperPointTorch::parseParameters ( const ParametersMap &  parameters )

virtual

Reimplemented from rtabmap::Feature2D.

Definition at line 2238 of file Features2d.cpp.

Member Data Documentation

cuda_

bool rtabmap::SuperPointTorch::cuda_

private

Definition at line 607 of file Features2d.h.

minDistance_

int rtabmap::SuperPointTorch::minDistance_

private

Definition at line 606 of file Features2d.h.

nms_

bool rtabmap::SuperPointTorch::nms_

private

Definition at line 605 of file Features2d.h.

path_

std::string rtabmap::SuperPointTorch::path_

private

Definition at line 603 of file Features2d.h.

superPoint_

cv::Ptr<SPDetector> rtabmap::SuperPointTorch::superPoint_

private

Definition at line 601 of file Features2d.h.

threshold_

float rtabmap::SuperPointTorch::threshold_

private

Definition at line 604 of file Features2d.h.

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

• Features2d.h
• Features2d.cpp