ORB_SLAM2::ORBextractor Class Reference

#include <ORBextractor.h>

Public Types
enum	{ HARRIS_SCORE =0, FAST_SCORE =1 }

Public Member Functions
std::vector< float >	GetInverseScaleFactors ()
std::vector< float >	GetInverseScaleSigmaSquares ()
int	GetLevels ()
float	GetScaleFactor ()
std::vector< float >	GetScaleFactors ()
std::vector< float >	GetScaleSigmaSquares ()
void	operator() (cv::InputArray image, cv::InputArray mask, std::vector< cv::KeyPoint > &keypoints, cv::OutputArray descriptors)
	ORBextractor (int nfeatures, float scaleFactor, int nlevels, int iniThFAST, int minThFAST)
	~ORBextractor ()

Public Attributes
std::vector< cv::Mat >	mvImagePyramid

Protected Member Functions
void	ComputeKeyPointsOctTree (std::vector< std::vector< cv::KeyPoint > > &allKeypoints)
void	ComputeKeyPointsOld (std::vector< std::vector< cv::KeyPoint > > &allKeypoints)
void	ComputePyramid (cv::Mat image)
std::vector< cv::KeyPoint >	DistributeOctTree (const std::vector< cv::KeyPoint > &vToDistributeKeys, const int &minX, const int &maxX, const int &minY, const int &maxY, const int &nFeatures, const int &level)

Protected Attributes
int	iniThFAST
int	minThFAST
std::vector< int >	mnFeaturesPerLevel
std::vector< float >	mvInvLevelSigma2
std::vector< float >	mvInvScaleFactor
std::vector< float >	mvLevelSigma2
std::vector< float >	mvScaleFactor
int	nfeatures
int	nlevels
std::vector< cv::Point >	pattern
double	scaleFactor
std::vector< int >	umax

Detailed Description

Definition at line 45 of file ORBextractor.h.

Member Enumeration Documentation

anonymous enum

Enumerator
HARRIS_SCORE
FAST_SCORE

Definition at line 49 of file ORBextractor.h.

Constructor & Destructor Documentation

ORB_SLAM2::ORBextractor::ORBextractor	(	int	nfeatures,
		float	scaleFactor,
		int	nlevels,
		int	iniThFAST,
		int	minThFAST
	)

ORB_SLAM2::ORBextractor::~ORBextractor ( )

inline

Definition at line 54 of file ORBextractor.h.

Member Function Documentation

void ORB_SLAM2::ORBextractor::ComputeKeyPointsOctTree ( std::vector< std::vector< cv::KeyPoint > > &  allKeypoints )

protected

void ORB_SLAM2::ORBextractor::ComputeKeyPointsOld ( std::vector< std::vector< cv::KeyPoint > > &  allKeypoints )

protected

void ORB_SLAM2::ORBextractor::ComputePyramid ( cv::Mat  image )

protected

std::vector<cv::KeyPoint> ORB_SLAM2::ORBextractor::DistributeOctTree ( const std::vector< cv::KeyPoint > &  vToDistributeKeys, const int &  minX, const int &  maxX, const int &  minY, const int &  maxY, const int &  nFeatures, const int &  level  )

protected

std::vector<float> ORB_SLAM2::ORBextractor::GetInverseScaleFactors ( )

inline

Definition at line 73 of file ORBextractor.h.

std::vector<float> ORB_SLAM2::ORBextractor::GetInverseScaleSigmaSquares ( )

inline

Definition at line 81 of file ORBextractor.h.

int ORB_SLAM2::ORBextractor::GetLevels ( )

inline

Definition at line 63 of file ORBextractor.h.

float ORB_SLAM2::ORBextractor::GetScaleFactor ( )

inline

Definition at line 66 of file ORBextractor.h.

std::vector<float> ORB_SLAM2::ORBextractor::GetScaleFactors ( )

inline

Definition at line 69 of file ORBextractor.h.

std::vector<float> ORB_SLAM2::ORBextractor::GetScaleSigmaSquares ( )

inline

Definition at line 77 of file ORBextractor.h.

void ORB_SLAM2::ORBextractor::operator()	(	cv::InputArray	image,
		cv::InputArray	mask,
		std::vector< cv::KeyPoint > &	keypoints,
		cv::OutputArray	descriptors
	)

Member Data Documentation

int ORB_SLAM2::ORBextractor::iniThFAST

protected

Definition at line 100 of file ORBextractor.h.

int ORB_SLAM2::ORBextractor::minThFAST

protected

Definition at line 101 of file ORBextractor.h.

std::vector<int> ORB_SLAM2::ORBextractor::mnFeaturesPerLevel

protected

Definition at line 103 of file ORBextractor.h.

std::vector<cv::Mat> ORB_SLAM2::ORBextractor::mvImagePyramid

Definition at line 85 of file ORBextractor.h.

std::vector<float> ORB_SLAM2::ORBextractor::mvInvLevelSigma2

protected

Definition at line 110 of file ORBextractor.h.

std::vector<float> ORB_SLAM2::ORBextractor::mvInvScaleFactor

protected

Definition at line 108 of file ORBextractor.h.

std::vector<float> ORB_SLAM2::ORBextractor::mvLevelSigma2

protected

Definition at line 109 of file ORBextractor.h.

std::vector<float> ORB_SLAM2::ORBextractor::mvScaleFactor

protected

Definition at line 107 of file ORBextractor.h.

int ORB_SLAM2::ORBextractor::nfeatures

protected

Definition at line 97 of file ORBextractor.h.

int ORB_SLAM2::ORBextractor::nlevels

protected

Definition at line 99 of file ORBextractor.h.

std::vector<cv::Point> ORB_SLAM2::ORBextractor::pattern

protected

Definition at line 95 of file ORBextractor.h.

double ORB_SLAM2::ORBextractor::scaleFactor

protected

Definition at line 98 of file ORBextractor.h.

std::vector<int> ORB_SLAM2::ORBextractor::umax

protected

Definition at line 105 of file ORBextractor.h.

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

• ORBextractor.h