cv Namespace Reference

Classes
class	AORB
Typedefs
typedef AORB	AorbDescriptorExtractor
typedef AORB	AorbFeatureDetector
Functions
static AlgorithmInfo &	aorb_info ()
static void	computeDescriptors (const Mat &image, vector< KeyPoint > &keypoints, Mat &descriptors, const vector< Point > &pattern, int dsize, int WTA_K)
static void	computeKeyPoints (const vector< Mat > &imagePyramid, const vector< Mat > &maskPyramid, vector< vector< KeyPoint > > &allKeypoints, int nfeatures, int firstLevel, double scaleFactor, int edgeThreshold, int patchSize, int scoreType, int fastThreshold)
static void	computeOrbDescriptor (const KeyPoint &kpt, const Mat &img, const Point *pattern, uchar *desc, int dsize, int WTA_K)
static void	computeOrientation (const Mat &image, vector< KeyPoint > &keypoints, int halfPatchSize, const vector< int > &umax)
static Algorithm *	createAORB ()
static float	getScale (int level, int firstLevel, double scaleFactor)
static void	HarrisResponses (const Mat &img, vector< KeyPoint > &pts, int blockSize, float harris_k)
static float	IC_Angle (const Mat &image, const int half_k, Point2f pt, const vector< int > &u_max)
static void	initializeOrbPattern (const Point *pattern0, vector< Point > &pattern, int ntuples, int tupleSize, int poolSize)
static void	makeRandomPattern (int patchSize, Point *pattern, int npoints)
Variables
static AlgorithmInfo &	aorb_info_auto = aorb_info()
static int	bit_pattern_31_ [256 *4]
const int	DESCRIPTOR_SIZE = 32
const float	HARRIS_K = 0.04f

---

Detailed Description

Authors: Ethan Rublee, Vincent Rabaud, Gary Bradski, Felix Endres

Adjustable ORB implementation. Modified from original ORB by Felix Endres

---

Typedef Documentation

typedef AORB cv::AorbDescriptorExtractor

Definition at line 90 of file aorb.h.

typedef AORB cv::AorbFeatureDetector

Definition at line 89 of file aorb.h.

---

Function Documentation

static AlgorithmInfo& cv::aorb_info

(

)

[static]

Definition at line 952 of file aorb.cpp.

static void cv::computeDescriptors	(	const Mat &	image,
		vector< KeyPoint > &	keypoints,
		Mat &	descriptors,
		const vector< Point > &	pattern,
		int	dsize,
		int	WTA_K
	)		[static]

Compute the AORB decriptors

Parameters:

image	the image to compute the features and descriptors on
integral_image	the integral image of the image (can be empty, but the computation will be slower)
level	the scale at which we compute the orientation
keypoints	the keypoints to use
descriptors	the resulting descriptors

Definition at line 706 of file aorb.cpp.

static void cv::computeKeyPoints	(	const vector< Mat > &	imagePyramid,
		const vector< Mat > &	maskPyramid,
		vector< vector< KeyPoint > > &	allKeypoints,
		int	nfeatures,
		int	firstLevel,
		double	scaleFactor,
		int	edgeThreshold,
		int	patchSize,
		int	scoreType,
		int	fastThreshold
	)		[static]

Compute the AORB keypoints on an image

Parameters:

image_pyramid	the image pyramid to compute the features and descriptors on
mask_pyramid	the masks to apply at every level
keypoints	the resulting keypoints, clustered per level

Definition at line 613 of file aorb.cpp.

static void cv::computeOrbDescriptor	(	const KeyPoint &	kpt,
		const Mat &	img,
		const Point *	pattern,
		uchar *	desc,
		int	dsize,
		int	WTA_K
	)		[static]

Definition at line 133 of file aorb.cpp.

static void cv::computeOrientation	(	const Mat &	image,
		vector< KeyPoint > &	keypoints,
		int	halfPatchSize,
		const vector< int > &	umax
	)		[static]

Compute the AORB keypoint orientations

Parameters:

image	the image to compute the features and descriptors on
integral_image	the integral image of the iamge (can be empty, but the computation will be slower)
scale	the scale at which we compute the orientation
keypoints	the resulting keypoints

Definition at line 596 of file aorb.cpp.

static Algorithm* cv::createAORB

(

)

[static]

Definition at line 951 of file aorb.cpp.

static float cv::getScale	(	int	level,
		int	firstLevel,
		double	scaleFactor
	)		[inline, static]

Definition at line 553 of file aorb.cpp.

static void cv::HarrisResponses	(	const Mat &	img,
		vector< KeyPoint > &	pts,
		int	blockSize,
		float	harris_k
	)		[static]

Function that computes the Harris responses in a blockSize x blockSize patch at given points in an image

Definition at line 57 of file aorb.cpp.

static float cv::IC_Angle	(	const Mat &	image,
		const int	half_k,
		Point2f	pt,
		const vector< int > &	u_max
	)		[static]

Definition at line 101 of file aorb.cpp.

static void cv::initializeOrbPattern	(	const Point *	pattern0,
		vector< Point > &	pattern,
		int	ntuples,
		int	tupleSize,
		int	poolSize
	)		[static]

Definition at line 253 of file aorb.cpp.

static void cv::makeRandomPattern	(	int	patchSize,
		Point *	pattern,
		int	npoints
	)		[static]

Definition at line 541 of file aorb.cpp.

---

Variable Documentation

AlgorithmInfo& cv::aorb_info_auto = aorb_info() [static]

Definition at line 958 of file aorb.cpp.

int cv::bit_pattern_31_[256 *4] [static]

Definition at line 280 of file aorb.cpp.

const int cv::DESCRIPTOR_SIZE = 32

Definition at line 50 of file aorb.cpp.

const float cv::HARRIS_K = 0.04f

Definition at line 49 of file aorb.cpp.