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

#include <Features2d.h>

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

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 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

bool cuda_
 
int minDistance_
 
bool nms_
 
std::string path_
 
cv::Ptr< SPDetectorsuperPoint_
 
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 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 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.


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