rtabmap::ORB Class Reference

#include <Features2d.h>

Inheritance diagram for rtabmap::ORB:

Public Member Functions
virtual Feature2D::Type	getType () const
	ORB (const ParametersMap &parameters=ParametersMap())
virtual void	parseParameters (const ParametersMap &parameters)
virtual	~ORB ()
Public Member Functions inherited from rtabmap::Feature2D
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 ()

Private Member Functions
virtual cv::Mat	generateDescriptorsImpl (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
virtual std::vector< cv::KeyPoint >	generateKeypointsImpl (const cv::Mat &image, const cv::Rect &roi, const cv::Mat &mask=cv::Mat()) const

Private Attributes
cv::Ptr< CV_ORB_GPU >	_gpuOrb
cv::Ptr< CV_ORB >	_orb
int	edgeThreshold_
int	fastThreshold_
int	firstLevel_
bool	gpu_
int	nLevels_
bool	nonmaxSuppresion_
int	patchSize_
float	scaleFactor_
int	scoreType_
int	WTA_K_

Additional Inherited Members
Public Types inherited from rtabmap::Feature2D
enum	Type {   kFeatureUndef =-1, kFeatureSurf =0, kFeatureSift =1, kFeatureOrb =2,   kFeatureFastFreak =3, kFeatureFastBrief =4, kFeatureGfttFreak =5, kFeatureGfttBrief =6,   kFeatureBrisk =7, kFeatureGfttOrb =8, kFeatureKaze =9 }
Static Public Member Functions inherited from rtabmap::Feature2D
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 inherited from rtabmap::Feature2D
	Feature2D (const ParametersMap &parameters=ParametersMap())

Detailed Description

Definition at line 237 of file Features2d.h.

Constructor & Destructor Documentation

rtabmap::ORB::ORB

(

const ParametersMap &

parameters = ParametersMap()

)

Definition at line 869 of file Features2d.cpp.

rtabmap::ORB::~ORB ( )

virtual

Definition at line 884 of file Features2d.cpp.

Member Function Documentation

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

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 999 of file Features2d.cpp.

std::vector< cv::KeyPoint > rtabmap::ORB::generateKeypointsImpl ( const cv::Mat &  image, const cv::Rect &  roi, const cv::Mat &  mask = cv::Mat()  ) const

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 957 of file Features2d.cpp.

virtual Feature2D::Type rtabmap::ORB::getType ( ) const

inlinevirtual

Implements rtabmap::Feature2D.

Definition at line 244 of file Features2d.h.

void rtabmap::ORB::parseParameters ( const ParametersMap &  parameters )

virtual

Reimplemented from rtabmap::Feature2D.

Definition at line 888 of file Features2d.cpp.

Member Data Documentation

cv::Ptr<CV_ORB_GPU> rtabmap::ORB::_gpuOrb

private

Definition at line 264 of file Features2d.h.

cv::Ptr<CV_ORB> rtabmap::ORB::_orb

private

Definition at line 263 of file Features2d.h.

int rtabmap::ORB::edgeThreshold_

private

Definition at line 253 of file Features2d.h.

int rtabmap::ORB::fastThreshold_

private

Definition at line 260 of file Features2d.h.

int rtabmap::ORB::firstLevel_

private

Definition at line 254 of file Features2d.h.

bool rtabmap::ORB::gpu_

private

Definition at line 258 of file Features2d.h.

int rtabmap::ORB::nLevels_

private

Definition at line 252 of file Features2d.h.

bool rtabmap::ORB::nonmaxSuppresion_

private

Definition at line 261 of file Features2d.h.

int rtabmap::ORB::patchSize_

private

Definition at line 257 of file Features2d.h.

float rtabmap::ORB::scaleFactor_

private

Definition at line 251 of file Features2d.h.

int rtabmap::ORB::scoreType_

private

Definition at line 256 of file Features2d.h.

int rtabmap::ORB::WTA_K_

private

Definition at line 255 of file Features2d.h.

---

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

• Features2d.h
• Features2d.cpp