Orb.h
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00045 
00046 #ifndef CORELIB_SRC_OPENCV_ORB_H_
00047 #define CORELIB_SRC_OPENCV_ORB_H_
00048 
00049 #include <opencv2/features2d/features2d.hpp>
00050 
00051 namespace rtabmap {
00052 
00053 class FAST;
00054 
00058 class CV_ORB : public cv::Feature2D
00059 {
00060 public:
00061     // the size of the signature in bytes
00062     enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
00063 
00064     CV_WRAP explicit CV_ORB(int nfeatures = 500, float scaleFactor = 1.2f, int nlevels = 8, int edgeThreshold = 31,
00065         int firstLevel = 0, int WTA_K=2, int scoreType=CV_ORB::HARRIS_SCORE, int patchSize=31, const ParametersMap & fastParameters=ParametersMap());
00066 
00067     // returns the descriptor size in bytes
00068     int descriptorSize() const;
00069     // returns the descriptor type
00070     int descriptorType() const;
00071 
00072     // Compute the ORB features and descriptors on an image
00073     void operator()(cv::InputArray image, cv::InputArray mask, std::vector<cv::KeyPoint>& keypoints) const;
00074 
00075     // Compute the ORB features and descriptors on an image
00076     void operator()( cv::InputArray image, cv::InputArray mask, std::vector<cv::KeyPoint>& keypoints,
00077                 cv::OutputArray descriptors, bool useProvidedKeypoints=false ) const;
00078 
00079 protected:
00080 
00081     void computeImpl( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, cv::Mat& descriptors ) const;
00082     void detectImpl( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, const cv::Mat& mask=cv::Mat() ) const;
00083 
00084     CV_PROP_RW int nfeatures;
00085     CV_PROP_RW double scaleFactor;
00086     CV_PROP_RW int nlevels;
00087     CV_PROP_RW int edgeThreshold;
00088     CV_PROP_RW int firstLevel;
00089     CV_PROP_RW int WTA_K;
00090     CV_PROP_RW int scoreType;
00091     CV_PROP_RW int patchSize;
00092 
00093     ParametersMap fastParameters;
00094 };
00095 
00096 }
00097 
00098 
00099 #endif /* CORELIB_SRC_OPENCV_ORB_H_ */


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:21