#include <Features2d.h>

Inheritance diagram for rtabmap::Feature2D:

Public Types
enum	Type { kFeatureUndef = -1, kFeatureSurf = 0, kFeatureSift = 1, kFeatureOrb = 2, kFeatureFastFreak = 3, kFeatureFastBrief = 4, kFeatureGfttFreak = 5, kFeatureGfttBrief = 6, kFeatureBrisk = 7, kFeatureGfttOrb = 8, kFeatureKaze = 9 }
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::Mat &mask=cv::Mat()) const
std::vector< cv::Point3f >	generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
float	getMaxDepth () const
int	getMaxFeatures () const
float	getMinDepth () const
virtual const ParametersMap &	getParameters () 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 (const ParametersMap &parameters=ParametersMap())
static Feature2D *	create (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	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)
static void	limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints)
static void	limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, 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 cv::Mat &mask=cv::Mat()) const =0
Private Attributes
float	_maxDepth
float	_minDepth
std::vector< float >	_roiRatios
Stereo *	_stereo
double	_subPixEps
int	_subPixIterations
int	_subPixWinSize
int	gridCols_
int	gridRows_
int	maxFeatures_
ParametersMap	parameters_

Detailed Description

Definition at line 96 of file Features2d.h.

Member Enumeration Documentation

enum rtabmap::Feature2D::Type

Enumerator:

kFeatureUndef
kFeatureSurf
kFeatureSift
kFeatureOrb
kFeatureFastFreak
kFeatureFastBrief
kFeatureGfttFreak
kFeatureGfttBrief
kFeatureBrisk
kFeatureGfttOrb
kFeatureKaze

Definition at line 98 of file Features2d.h.

Constructor & Destructor Documentation

rtabmap::Feature2D::~Feature2D ( ) [virtual]

Definition at line 337 of file Features2d.cpp.

rtabmap::Feature2D::Feature2D ( const ParametersMap & parameters = ParametersMap() ) [protected]

Definition at line 323 of file Features2d.cpp.

Member Function Documentation

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

Definition at line 310 of file Features2d.cpp.

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

Definition at line 315 of file Features2d.cpp.

Feature2D * rtabmap::Feature2D::create ( const ParametersMap & parameters = ParametersMap() ) [static]

Definition at line 405 of file Features2d.cpp.

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

Definition at line 411 of file Features2d.cpp.

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

Definition at line 66 of file Features2d.cpp.

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

Definition at line 76 of file Features2d.cpp.

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

Definition at line 138 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 147 of file Features2d.cpp.

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

Definition at line 596 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::KAZE, rtabmap::BRISK, rtabmap::GFTT_ORB, rtabmap::GFTT_FREAK, rtabmap::GFTT_BRIEF, rtabmap::FAST_FREAK, rtabmap::FAST_BRIEF, rtabmap::FAST, rtabmap::ORB, rtabmap::SIFT, and rtabmap::SURF.

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

Definition at line 497 of file Features2d.cpp.

std::vector< cv::Point3f > rtabmap::Feature2D::generateKeypoints3D	(	const SensorData &	data,
		const std::vector< cv::KeyPoint > &	keypoints
	)		const

Definition at line 612 of file Features2d.cpp.

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

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

float rtabmap::Feature2D::getMaxDepth ( ) const [inline]

Definition at line 145 of file Features2d.h.

int rtabmap::Feature2D::getMaxFeatures ( ) const [inline]

Definition at line 143 of file Features2d.h.

float rtabmap::Feature2D::getMinDepth ( ) const [inline]

Definition at line 144 of file Features2d.h.

virtual const ParametersMap& rtabmap::Feature2D::getParameters ( ) const [inline, virtual]

Definition at line 161 of file Features2d.h.

virtual Feature2D::Type rtabmap::Feature2D::getType ( ) const [pure virtual]

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

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

Definition at line 205 of file Features2d.cpp.

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

Definition at line 211 of file Features2d.cpp.

void rtabmap::Feature2D::limitKeypoints	(	std::vector< cv::KeyPoint > &	keypoints,
		std::vector< cv::Point3f > &	keypoints3D,
		cv::Mat &	descriptors,
		int	maxKeypoints
	)		`[static]`