#include <Features2d.h>

Inheritance diagram for rtabmap::ORBOctree:

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

	ORBOctree (const ParametersMap &parameters=ParametersMap())

virtual void	parseParameters (const ParametersMap &parameters)

virtual	~ORBOctree ()

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())

std::vector< cv::Point3f >	generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const

int	getGridCols () const

int	getGridRows () 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())

Private Attributes
cv::Ptr< ORBextractor >	_orb

cv::Mat	descriptors_

int	edgeThreshold_

int	fastMinThreshold_

int	fastThreshold_

int	nLevels_

int	patchSize_

float	scaleFactor_

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, kFeatureOrbOctree =10, kFeatureSuperPointTorch =11, kFeatureSurfFreak =12, kFeatureGfttDaisy =13, kFeatureSurfDaisy =14 }

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	filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, 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)

static void	limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols)

static std::string	typeName (Type type)

Protected Member Functions inherited from rtabmap::Feature2D
	Feature2D (const ParametersMap &parameters=ParametersMap())

Detailed Description

Definition at line 559 of file Features2d.h.

Constructor & Destructor Documentation

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

Definition at line 1959 of file Features2d.cpp.

rtabmap::ORBOctree::~ORBOctree ( )

virtual

Definition at line 1970 of file Features2d.cpp.

Member Function Documentation

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

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 2018 of file Features2d.cpp.

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

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 1993 of file Features2d.cpp.

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

inlinevirtual

Implements rtabmap::Feature2D.

Definition at line 566 of file Features2d.h.

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

virtual

Reimplemented from rtabmap::Feature2D.

Definition at line 1974 of file Features2d.cpp.

Member Data Documentation

cv::Ptr<ORBextractor> rtabmap::ORBOctree::_orb

private

Definition at line 580 of file Features2d.h.

cv::Mat rtabmap::ORBOctree::descriptors_

private

Definition at line 581 of file Features2d.h.

int rtabmap::ORBOctree::edgeThreshold_

private

Definition at line 576 of file Features2d.h.

int rtabmap::ORBOctree::fastMinThreshold_

private

Definition at line 578 of file Features2d.h.

int rtabmap::ORBOctree::fastThreshold_

private

Definition at line 577 of file Features2d.h.

int rtabmap::ORBOctree::nLevels_

private

Definition at line 574 of file Features2d.h.

int rtabmap::ORBOctree::patchSize_

private

Definition at line 575 of file Features2d.h.

float rtabmap::ORBOctree::scaleFactor_

private

Definition at line 573 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