Public Types | Public Member Functions | Public Attributes | Protected Member Functions | Protected Attributes | List of all members
rtabmap::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, int patchSize, int edgeThreshold)
 
 ~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 edgeThreshold
 
int halfPatchSize
 
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
 
int patchSize
 
std::vector< cv::Point > pattern
 
double scaleFactor
 
std::vector< int > umax
 

Detailed Description

Definition at line 53 of file ORBextractor.h.

Member Enumeration Documentation

◆ anonymous enum

anonymous enum
Enumerator
HARRIS_SCORE 
FAST_SCORE 

Definition at line 57 of file ORBextractor.h.

Constructor & Destructor Documentation

◆ ORBextractor()

rtabmap::ORBextractor::ORBextractor ( int  nfeatures,
float  scaleFactor,
int  nlevels,
int  iniThFAST,
int  minThFAST,
int  patchSize,
int  edgeThreshold 
)

Definition at line 416 of file ORBextractor.cc.

◆ ~ORBextractor()

rtabmap::ORBextractor::~ORBextractor ( )
inline

Definition at line 62 of file ORBextractor.h.

Member Function Documentation

◆ ComputeKeyPointsOctTree()

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

Definition at line 772 of file ORBextractor.cc.

◆ ComputeKeyPointsOld()

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

Definition at line 862 of file ORBextractor.cc.

◆ ComputePyramid()

void rtabmap::ORBextractor::ComputePyramid ( cv::Mat  image)
protected

Definition at line 1114 of file ORBextractor.cc.

◆ DistributeOctTree()

vector< cv::KeyPoint > rtabmap::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

Definition at line 546 of file ORBextractor.cc.

◆ GetInverseScaleFactors()

std::vector<float> rtabmap::ORBextractor::GetInverseScaleFactors ( )
inline

Definition at line 81 of file ORBextractor.h.

◆ GetInverseScaleSigmaSquares()

std::vector<float> rtabmap::ORBextractor::GetInverseScaleSigmaSquares ( )
inline

Definition at line 89 of file ORBextractor.h.

◆ GetLevels()

int rtabmap::ORBextractor::GetLevels ( )
inline

Definition at line 71 of file ORBextractor.h.

◆ GetScaleFactor()

float rtabmap::ORBextractor::GetScaleFactor ( )
inline

Definition at line 74 of file ORBextractor.h.

◆ GetScaleFactors()

std::vector<float> rtabmap::ORBextractor::GetScaleFactors ( )
inline

Definition at line 77 of file ORBextractor.h.

◆ GetScaleSigmaSquares()

std::vector<float> rtabmap::ORBextractor::GetScaleSigmaSquares ( )
inline

Definition at line 85 of file ORBextractor.h.

◆ operator()()

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

Definition at line 1050 of file ORBextractor.cc.

Member Data Documentation

◆ edgeThreshold

int rtabmap::ORBextractor::edgeThreshold
protected

Definition at line 111 of file ORBextractor.h.

◆ halfPatchSize

int rtabmap::ORBextractor::halfPatchSize
protected

Definition at line 112 of file ORBextractor.h.

◆ iniThFAST

int rtabmap::ORBextractor::iniThFAST
protected

Definition at line 108 of file ORBextractor.h.

◆ minThFAST

int rtabmap::ORBextractor::minThFAST
protected

Definition at line 109 of file ORBextractor.h.

◆ mnFeaturesPerLevel

std::vector<int> rtabmap::ORBextractor::mnFeaturesPerLevel
protected

Definition at line 115 of file ORBextractor.h.

◆ mvImagePyramid

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

Definition at line 93 of file ORBextractor.h.

◆ mvInvLevelSigma2

std::vector<float> rtabmap::ORBextractor::mvInvLevelSigma2
protected

Definition at line 122 of file ORBextractor.h.

◆ mvInvScaleFactor

std::vector<float> rtabmap::ORBextractor::mvInvScaleFactor
protected

Definition at line 120 of file ORBextractor.h.

◆ mvLevelSigma2

std::vector<float> rtabmap::ORBextractor::mvLevelSigma2
protected

Definition at line 121 of file ORBextractor.h.

◆ mvScaleFactor

std::vector<float> rtabmap::ORBextractor::mvScaleFactor
protected

Definition at line 119 of file ORBextractor.h.

◆ nfeatures

int rtabmap::ORBextractor::nfeatures
protected

Definition at line 105 of file ORBextractor.h.

◆ nlevels

int rtabmap::ORBextractor::nlevels
protected

Definition at line 107 of file ORBextractor.h.

◆ patchSize

int rtabmap::ORBextractor::patchSize
protected

Definition at line 110 of file ORBextractor.h.

◆ pattern

std::vector<cv::Point> rtabmap::ORBextractor::pattern
protected

Definition at line 103 of file ORBextractor.h.

◆ scaleFactor

double rtabmap::ORBextractor::scaleFactor
protected

Definition at line 106 of file ORBextractor.h.

◆ umax

std::vector<int> rtabmap::ORBextractor::umax
protected

Definition at line 117 of file ORBextractor.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:39:00