rtabmap::CV_ORB Class Reference

#include <Orb.h>

Inheritance diagram for rtabmap::CV_ORB:

Public Types
enum	{ kBytes = 32, HARRIS_SCORE =0, FAST_SCORE =1 }

Public Member Functions
CV_WRAP	CV_ORB (int nfeatures=500, float scaleFactor=1.2f, int nlevels=8, int edgeThreshold=31, int firstLevel=0, int WTA_K=2, int scoreType=CV_ORB::HARRIS_SCORE, int patchSize=31, const ParametersMap &fastParameters=ParametersMap())
int	descriptorSize () const
int	descriptorType () const
void	operator() (cv::InputArray image, cv::InputArray mask, std::vector< cv::KeyPoint > &keypoints) const
void	operator() (cv::InputArray image, cv::InputArray mask, std::vector< cv::KeyPoint > &keypoints, cv::OutputArray descriptors, bool useProvidedKeypoints=false) const

Protected Member Functions
void	computeImpl (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors) const
void	detectImpl (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints, const cv::Mat &mask=cv::Mat()) const

Protected Attributes
CV_PROP_RW int	edgeThreshold
ParametersMap	fastParameters
CV_PROP_RW int	firstLevel
CV_PROP_RW int	nfeatures
CV_PROP_RW int	nlevels
CV_PROP_RW int	patchSize
CV_PROP_RW double	scaleFactor
CV_PROP_RW int	scoreType
CV_PROP_RW int	WTA_K

Detailed Description

ORB implementation.

Definition at line 58 of file Orb.h.

Member Enumeration Documentation

anonymous enum

Enumerator
kBytes
HARRIS_SCORE
FAST_SCORE

Definition at line 62 of file Orb.h.

Constructor & Destructor Documentation

rtabmap::CV_ORB::CV_ORB ( int  _nfeatures = 500, float  _scaleFactor = 1.2f, int  _nlevels = 8, int  _edgeThreshold = 31, int  _firstLevel = 0, int  _WTA_K = 2, int  _scoreType = CV_ORB::HARRIS_SCORE, int  _patchSize = 31, const ParametersMap &  _fastParameters = ParametersMap()  )

explicit

Constructor

Parameters

detector_params

parameters to use

Definition at line 569 of file Orb.cpp.

Member Function Documentation

void rtabmap::CV_ORB::computeImpl ( const cv::Mat &  image, std::vector< cv::KeyPoint > &  keypoints, cv::Mat &  descriptors  ) const

protected

Definition at line 958 of file Orb.cpp.

int rtabmap::CV_ORB::descriptorSize

(

)

const

Definition at line 577 of file Orb.cpp.

int rtabmap::CV_ORB::descriptorType

(

)

const

Definition at line 582 of file Orb.cpp.

void rtabmap::CV_ORB::detectImpl ( const cv::Mat &  image, std::vector< cv::KeyPoint > &  keypoints, const cv::Mat &  mask = cv::Mat()  ) const

protected

Definition at line 953 of file Orb.cpp.

void rtabmap::CV_ORB::operator()	(	cv::InputArray	image,
		cv::InputArray	mask,
		std::vector< cv::KeyPoint > &	keypoints
	)		const

void rtabmap::CV_ORB::operator()	(	cv::InputArray	image,
		cv::InputArray	mask,
		std::vector< cv::KeyPoint > &	keypoints,
		cv::OutputArray	descriptors,
		bool	useProvidedKeypoints = false
	)		const

Member Data Documentation

CV_PROP_RW int rtabmap::CV_ORB::edgeThreshold

protected

Definition at line 87 of file Orb.h.

ParametersMap rtabmap::CV_ORB::fastParameters

protected

Definition at line 93 of file Orb.h.

CV_PROP_RW int rtabmap::CV_ORB::firstLevel

protected

Definition at line 88 of file Orb.h.

CV_PROP_RW int rtabmap::CV_ORB::nfeatures

protected

Definition at line 84 of file Orb.h.

CV_PROP_RW int rtabmap::CV_ORB::nlevels

protected

Definition at line 86 of file Orb.h.

CV_PROP_RW int rtabmap::CV_ORB::patchSize

protected

Definition at line 91 of file Orb.h.

CV_PROP_RW double rtabmap::CV_ORB::scaleFactor

protected

Definition at line 85 of file Orb.h.

CV_PROP_RW int rtabmap::CV_ORB::scoreType

protected

Definition at line 90 of file Orb.h.

CV_PROP_RW int rtabmap::CV_ORB::WTA_K

protected

Definition at line 89 of file Orb.h.

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

• Orb.h
• Orb.cpp