Orb.h
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45 
46 #ifndef CORELIB_SRC_OPENCV_ORB_H_
47 #define CORELIB_SRC_OPENCV_ORB_H_
48 
49 #include <opencv2/features2d/features2d.hpp>
50 
51 namespace rtabmap {
52 
53 class FAST;
54 
58 class CV_ORB : public cv::Feature2D
59 {
60 public:
61  // the size of the signature in bytes
62  enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
63 
64  CV_WRAP explicit CV_ORB(int nfeatures = 500, float scaleFactor = 1.2f, int nlevels = 8, int edgeThreshold = 31,
66 
67  // returns the descriptor size in bytes
68  int descriptorSize() const;
69  // returns the descriptor type
70  int descriptorType() const;
71 
72  // Compute the ORB features and descriptors on an image
73  void operator()(cv::InputArray image, cv::InputArray mask, std::vector<cv::KeyPoint>& keypoints) const;
74 
75  // Compute the ORB features and descriptors on an image
76  void operator()( cv::InputArray image, cv::InputArray mask, std::vector<cv::KeyPoint>& keypoints,
77  cv::OutputArray descriptors, bool useProvidedKeypoints=false ) const;
78 
79 protected:
80 
81  void computeImpl( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, cv::Mat& descriptors ) const;
82  void detectImpl( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, const cv::Mat& mask=cv::Mat() ) const;
83 
84  CV_PROP_RW int nfeatures;
85  CV_PROP_RW double scaleFactor;
86  CV_PROP_RW int nlevels;
87  CV_PROP_RW int edgeThreshold;
88  CV_PROP_RW int firstLevel;
89  CV_PROP_RW int WTA_K;
90  CV_PROP_RW int scoreType;
91  CV_PROP_RW int patchSize;
92 
94 };
95 
96 }
97 
98 
99 #endif /* CORELIB_SRC_OPENCV_ORB_H_ */
rtabmap::CV_ORB::scaleFactor
CV_PROP_RW double scaleFactor
Definition: Orb.h:85
glm::mask
GLM_FUNC_DECL genIType mask(genIType const &count)
rtabmap::CV_ORB::CV_ORB
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())
Definition: Orb.cpp:569
rtabmap::CV_ORB::descriptorType
int descriptorType() const
Definition: Orb.cpp:582
rtabmap::CV_ORB::scoreType
CV_PROP_RW int scoreType
Definition: Orb.h:90
rtabmap::CV_ORB::descriptorSize
int descriptorSize() const
Definition: Orb.cpp:577
rtabmap::CV_ORB::fastParameters
ParametersMap fastParameters
Definition: Orb.h:93
rtabmap::CV_ORB::patchSize
CV_PROP_RW int patchSize
Definition: Orb.h:91
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
rtabmap::CV_ORB
Definition: Orb.h:58
rtabmap::CV_ORB::operator()
void operator()(cv::InputArray image, cv::InputArray mask, std::vector< cv::KeyPoint > &keypoints) const
rtabmap::CV_ORB::nfeatures
CV_PROP_RW int nfeatures
Definition: Orb.h:84
rtabmap::CV_ORB::firstLevel
CV_PROP_RW int firstLevel
Definition: Orb.h:88
rtabmap::CV_ORB::HARRIS_SCORE
@ HARRIS_SCORE
Definition: Orb.h:62
rtabmap::CV_ORB::computeImpl
void computeImpl(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors) const
Definition: Orb.cpp:958
rtabmap::CV_ORB::detectImpl
void detectImpl(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints, const cv::Mat &mask=cv::Mat()) const
Definition: Orb.cpp:953
rtabmap::CV_ORB::edgeThreshold
CV_PROP_RW int edgeThreshold
Definition: Orb.h:87
rtabmap::CV_ORB::FAST_SCORE
@ FAST_SCORE
Definition: Orb.h:62
rtabmap::CV_ORB::WTA_K
CV_PROP_RW int WTA_K
Definition: Orb.h:89
rtabmap
Definition: CameraARCore.cpp:35
rtabmap::CV_ORB::nlevels
CV_PROP_RW int nlevels
Definition: Orb.h:86
rtabmap::CV_ORB::kBytes
@ kBytes
Definition: Orb.h:62


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:14