rtabmap::Feature2D Class Reference

#include <Features2d.h>

Inheritance diagram for rtabmap::Feature2D:

List of all members.

Public Types
enum	Type {   kFeatureUndef = -1, kFeatureSurf = 0, kFeatureSift = 1, kFeatureOrb = 2,   kFeatureFastFreak = 3, kFeatureFastBrief = 4, kFeatureGfttFreak = 5, kFeatureGfttBrief = 6,   kFeatureBrisk = 7 }
Public Member Functions
cv::Mat	generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
std::vector< cv::KeyPoint >	generateKeypoints (const cv::Mat &image, const cv::Rect &roi=cv::Rect()) const
int	getMaxFeatures () const
virtual Feature2D::Type	getType () const =0
virtual void	parseParameters (const ParametersMap &parameters)
virtual	~Feature2D ()
Static Public Member Functions
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 (Feature2D::Type &type, const ParametersMap &parameters)
static void	filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float maxDepth)
static void	filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, 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 (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints)
static void	limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints)
Protected Member Functions
	Feature2D (const ParametersMap &parameters=ParametersMap())
Private Member Functions
virtual cv::Mat	generateDescriptorsImpl (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const =0
virtual std::vector< cv::KeyPoint >	generateKeypointsImpl (const cv::Mat &image, const cv::Rect &roi) const =0
Private Attributes
int	maxFeatures_

---

Detailed Description

Definition at line 52 of file Features2d.h.

---

Member Enumeration Documentation

enum rtabmap::Feature2D::Type

Enumerator:

kFeatureUndef
kFeatureSurf
kFeatureSift
kFeatureOrb
kFeatureFastFreak
kFeatureFastBrief
kFeatureGfttFreak
kFeatureGfttBrief
kFeatureBrisk

Definition at line 54 of file Features2d.h.

---

Constructor & Destructor Documentation

virtual rtabmap::Feature2D::~Feature2D

(

)

[inline, virtual]

Definition at line 95 of file Features2d.h.

rtabmap::Feature2D::Feature2D

(

const ParametersMap &

parameters = ParametersMap()

)

[protected]

Definition at line 322 of file Features2d.cpp.

---

Member Function Documentation

cv::Rect rtabmap::Feature2D::computeRoi	(	const cv::Mat &	image,
		const std::string &	roiRatios
	)		[static]

Definition at line 241 of file Features2d.cpp.

cv::Rect rtabmap::Feature2D::computeRoi	(	const cv::Mat &	image,
		const std::vector< float > &	roiRatios
	)		[static]

Definition at line 273 of file Features2d.cpp.

Feature2D * rtabmap::Feature2D::create	(	Feature2D::Type &	type,
		const ParametersMap &	parameters
	)		[static]

Definition at line 331 of file Features2d.cpp.

void rtabmap::Feature2D::filterKeypointsByDepth	(	std::vector< cv::KeyPoint > &	keypoints,
		const cv::Mat &	depth,
		float	maxDepth
	)		[static]

Definition at line 49 of file Features2d.cpp.

void rtabmap::Feature2D::filterKeypointsByDepth	(	std::vector< cv::KeyPoint > &	keypoints,
		cv::Mat &	descriptors,
		const cv::Mat &	depth,
		float	maxDepth
	)		[static]

Definition at line 58 of file Features2d.cpp.

void rtabmap::Feature2D::filterKeypointsByDisparity	(	std::vector< cv::KeyPoint > &	keypoints,
		const cv::Mat &	disparity,
		float	minDisparity
	)		[static]

Definition at line 117 of file Features2d.cpp.

void rtabmap::Feature2D::filterKeypointsByDisparity	(	std::vector< cv::KeyPoint > &	keypoints,
		cv::Mat &	descriptors,
		const cv::Mat &	disparity,
		float	minDisparity
	)		[static]

Definition at line 126 of file Features2d.cpp.

cv::Mat rtabmap::Feature2D::generateDescriptors	(	const cv::Mat &	image,
		std::vector< cv::KeyPoint > &	keypoints
	)		const

Definition at line 417 of file Features2d.cpp.

virtual cv::Mat rtabmap::Feature2D::generateDescriptorsImpl	(	const cv::Mat &	image,
		std::vector< cv::KeyPoint > &	keypoints
	)		const [private, pure virtual]

Implemented in rtabmap::BRISK, rtabmap::GFTT_FREAK, rtabmap::GFTT_BRIEF, rtabmap::FAST_FREAK, rtabmap::FAST_BRIEF, rtabmap::ORB, rtabmap::SIFT, and rtabmap::SURF.

std::vector< cv::KeyPoint > rtabmap::Feature2D::generateKeypoints	(	const cv::Mat &	image,
		const cv::Rect &	roi = cv::Rect()
	)		const

Definition at line 381 of file Features2d.cpp.

virtual std::vector<cv::KeyPoint> rtabmap::Feature2D::generateKeypointsImpl	(	const cv::Mat &	image,
		const cv::Rect &	roi
	)		const [private, pure virtual]

Implemented in rtabmap::BRISK, rtabmap::GFTT, rtabmap::FAST, rtabmap::ORB, rtabmap::SIFT, and rtabmap::SURF.

int rtabmap::Feature2D::getMaxFeatures

(

)

const [inline]

Definition at line 92 of file Features2d.h.

virtual Feature2D::Type rtabmap::Feature2D::getType

(

)

const [pure virtual]

Implemented in rtabmap::BRISK, rtabmap::GFTT_FREAK, rtabmap::GFTT_BRIEF, rtabmap::FAST_FREAK, rtabmap::FAST_BRIEF, rtabmap::ORB, rtabmap::SIFT, and rtabmap::SURF.

void rtabmap::Feature2D::limitKeypoints	(	std::vector< cv::KeyPoint > &	keypoints,
		int	maxKeypoints
	)		[static]

Definition at line 184 of file Features2d.cpp.

void rtabmap::Feature2D::limitKeypoints	(	std::vector< cv::KeyPoint > &	keypoints,
		cv::Mat &	descriptors,
		int	maxKeypoints
	)		[static]

Definition at line 190 of file Features2d.cpp.

void rtabmap::Feature2D::parseParameters

(

const ParametersMap &

parameters

)

[virtual]

Reimplemented in rtabmap::BRISK, rtabmap::GFTT_FREAK, rtabmap::GFTT_BRIEF, rtabmap::GFTT, rtabmap::FAST_FREAK, rtabmap::FAST_BRIEF, rtabmap::FAST, rtabmap::ORB, rtabmap::SIFT, and rtabmap::SURF.

Definition at line 327 of file Features2d.cpp.

---

Member Data Documentation

int rtabmap::Feature2D::maxFeatures_ [private]

Definition at line 111 of file Features2d.h.

---

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

• Features2d.h
• Features2d.cpp