Orb.cpp File Reference

#include <rtabmap/core/Features2d.h>
#include <rtabmap/utilite/UConversion.h>
#include <rtabmap/utilite/UStl.h>
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/imgproc/imgproc_c.h"
#include <algorithm>
#include <iterator>
#include "Orb.h"

Include dependency graph for Orb.cpp:

Go to the source code of this file.

Namespaces
namespace	rtabmap
Defines
#define	GET_VALUE(idx)
Functions
static void	rtabmap::computeDescriptors (const Mat &image, std::vector< KeyPoint > &keypoints, Mat &descriptors, const std::vector< Point > &pattern, int dsize, int WTA_K)
static void	rtabmap::computeKeyPoints (const std::vector< Mat > &imagePyramid, const std::vector< Mat > &maskPyramid, std::vector< std::vector< KeyPoint > > &allKeypoints, int nfeatures, int firstLevel, double scaleFactor, int edgeThreshold, int patchSize, int scoreType, ParametersMap fastParameters)
static void	rtabmap::computeOrbDescriptor (const KeyPoint &kpt, const Mat &img, const Point *pattern, uchar *desc, int dsize, int WTA_K)
static void	rtabmap::computeOrientation (const Mat &image, std::vector< KeyPoint > &keypoints, int halfPatchSize, const std::vector< int > &umax)
static float	rtabmap::getScale (int level, int firstLevel, double scaleFactor)
static void	rtabmap::HarrisResponses (const Mat &img, std::vector< KeyPoint > &pts, int blockSize, float harris_k)
static float	rtabmap::IC_Angle (const Mat &image, const int half_k, Point2f pt, const std::vector< int > &u_max)
static void	rtabmap::initializeOrbPattern (const Point *pattern0, std::vector< Point > &pattern, int ntuples, int tupleSize, int poolSize)
static void	rtabmap::makeRandomPattern (int patchSize, Point *pattern, int npoints)
Variables
static int	rtabmap::bit_pattern_31_ [256 *4]
const float	rtabmap::HARRIS_K = 0.04f

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Define Documentation

#define GET_VALUE

(

idx

)

Value:

(x = pattern[idx].x*a - pattern[idx].y*b, \
            y = pattern[idx].x*b + pattern[idx].y*a, \
            ix = cvRound(x), \
            iy = cvRound(y), \
            *(center + iy*step + ix) )