#include <Features2d.h>

Inheritance diagram for rtabmap::SURF:

Public Member Functions
virtual Feature2D::Type	getType () const

virtual void	parseParameters (const ParametersMap &parameters)

	SURF (const ParametersMap &parameters=ParametersMap())

virtual	~SURF ()

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_SURF_GPU >	_gpuSurf

cv::Ptr< CV_SURF >	_surf

bool	extended_

float	gpuKeypointsRatio_

bool	gpuVersion_

double	hessianThreshold_

int	nOctaveLayers_

int	nOctaves_

bool	upright_

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 187 of file Features2d.h.

Constructor & Destructor Documentation

rtabmap::SURF::SURF ( const ParametersMap & parameters = ParametersMap() )

Definition at line 669 of file Features2d.cpp.

rtabmap::SURF::~SURF ( )

virtual

Definition at line 681 of file Features2d.cpp.

Member Function Documentation

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

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 762 of file Features2d.cpp.

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

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 728 of file Features2d.cpp.

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

inlinevirtual

Implements rtabmap::Feature2D.

Definition at line 194 of file Features2d.h.

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

virtual

Reimplemented from rtabmap::Feature2D.

Definition at line 685 of file Features2d.cpp.

Member Data Documentation

cv::Ptr<CV_SURF_GPU> rtabmap::SURF::_gpuSurf

private

Definition at line 210 of file Features2d.h.

cv::Ptr<CV_SURF> rtabmap::SURF::_surf

private

Definition at line 209 of file Features2d.h.

bool rtabmap::SURF::extended_

private

Definition at line 204 of file Features2d.h.

float rtabmap::SURF::gpuKeypointsRatio_

private

Definition at line 206 of file Features2d.h.

bool rtabmap::SURF::gpuVersion_

private

Definition at line 207 of file Features2d.h.

double rtabmap::SURF::hessianThreshold_

private

Definition at line 201 of file Features2d.h.

int rtabmap::SURF::nOctaveLayers_

private

Definition at line 203 of file Features2d.h.

int rtabmap::SURF::nOctaves_

private

Definition at line 202 of file Features2d.h.

bool rtabmap::SURF::upright_

private

Definition at line 205 of file Features2d.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation