rtabmap::SPDetector Class Reference

#include <SuperPoint.h>

Public Member Functions
cv::Mat	compute (const std::vector< cv::KeyPoint > &keypoints)
std::vector< cv::KeyPoint >	detect (const cv::Mat &img, const cv::Mat &mask=cv::Mat())
void	setMinDistance (float minDistance)
void	SetNMS (bool enabled)
void	setThreshold (float threshold)
	SPDetector (const std::string &modelPath, float threshold=0.2f, bool nms=true, int minDistance=4, bool cuda=false)
virtual	~SPDetector ()

Private Attributes
bool	cuda_
torch::Tensor	desc_
bool	detected_
int	minDistance_
std::shared_ptr< SuperPoint >	model_
bool	nms_
torch::Tensor	prob_
float	threshold_

Detailed Description

Definition at line 49 of file SuperPoint.h.

Constructor & Destructor Documentation

SPDetector()

rtabmap::SPDetector::SPDetector	(	const std::string &	modelPath,
		float	threshold = 0.2f,
		bool	nms = true,
		int	minDistance = 4,
		bool	cuda = false
	)

Definition at line 108 of file SuperPoint.cc.

~SPDetector()

rtabmap::SPDetector::~SPDetector ( )

virtual

Definition at line 138 of file SuperPoint.cc.

Member Function Documentation

compute()

cv::Mat rtabmap::SPDetector::compute

(

const std::vector< cv::KeyPoint > &

keypoints

)

Definition at line 209 of file SuperPoint.cc.

detect()

std::vector< cv::KeyPoint > rtabmap::SPDetector::detect	(	const cv::Mat &	img,
		const cv::Mat &	mask = cv::Mat()
	)

Definition at line 142 of file SuperPoint.cc.

setMinDistance()

void rtabmap::SPDetector::setMinDistance ( float  minDistance )

inline

Definition at line 58 of file SuperPoint.h.

SetNMS()

void rtabmap::SPDetector::SetNMS ( bool  enabled )

inline

Definition at line 57 of file SuperPoint.h.

setThreshold()

void rtabmap::SPDetector::setThreshold ( float  threshold )

inline

Definition at line 56 of file SuperPoint.h.

Member Data Documentation

cuda_

bool rtabmap::SPDetector::cuda_

private

Definition at line 68 of file SuperPoint.h.

desc_

torch::Tensor rtabmap::SPDetector::desc_

private

Definition at line 63 of file SuperPoint.h.

detected_

bool rtabmap::SPDetector::detected_

private

Definition at line 70 of file SuperPoint.h.

minDistance_

int rtabmap::SPDetector::minDistance_

private

Definition at line 67 of file SuperPoint.h.

model_

std::shared_ptr<SuperPoint> rtabmap::SPDetector::model_

private

Definition at line 61 of file SuperPoint.h.

nms_

bool rtabmap::SPDetector::nms_

private

Definition at line 66 of file SuperPoint.h.

prob_

torch::Tensor rtabmap::SPDetector::prob_

private

Definition at line 62 of file SuperPoint.h.

threshold_

float rtabmap::SPDetector::threshold_

private

Definition at line 65 of file SuperPoint.h.

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

• SuperPoint.h
• SuperPoint.cc