#include <Features2d.h>

Inheritance diagram for rtabmap::SIFT:

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

virtual void	parseParameters (const ParametersMap &parameters)

	SIFT (const ParametersMap &parameters=ParametersMap())

virtual	~SIFT ()

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

bool	getSSC () 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
double	contrastThreshold_

SiftData *	cudaSiftData_

cv::Mat	cudaSiftDescriptors_

float *	cudaSiftMemory_

cv::Size	cudaSiftMemorySize_

bool	cudaSiftUpscaling_

double	edgeThreshold_

bool	gpu_

float	guaussianThreshold_

int	nOctaveLayers_

bool	preciseUpscale_

bool	rootSIFT_

cv::Ptr< CV_SIFT >	sift_

double	sigma_

bool	upscale_

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, kFeaturePyDetector =15 }

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 (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)

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

static void	limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)

static void	limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)

static void	limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)

static std::string	typeName (Type type)

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

Detailed Description

Definition at line 287 of file Features2d.h.

Constructor & Destructor Documentation

◆ SIFT()

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

Definition at line 1227 of file Features2d.cpp.

◆ ~SIFT()

rtabmap::SIFT::~SIFT ( )

virtual

Definition at line 1244 of file Features2d.cpp.

Member Function Documentation

◆ generateDescriptorsImpl()

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

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 1434 of file Features2d.cpp.

◆ generateKeypointsImpl()

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

privatevirtual

Implements rtabmap::Feature2D.

Definition at line 1313 of file Features2d.cpp.

◆ getType()

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

inlinevirtual

Implements rtabmap::Feature2D.

Definition at line 294 of file Features2d.h.

◆ parseParameters()

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

virtual

Reimplemented from rtabmap::Feature2D.

Definition at line 1257 of file Features2d.cpp.

Member Data Documentation

◆ contrastThreshold_

double rtabmap::SIFT::contrastThreshold_

private

Definition at line 302 of file Features2d.h.

◆ cudaSiftData_

SiftData* rtabmap::SIFT::cudaSiftData_

private

Definition at line 312 of file Features2d.h.

◆ cudaSiftDescriptors_

cv::Mat rtabmap::SIFT::cudaSiftDescriptors_

private

Definition at line 315 of file Features2d.h.

◆ cudaSiftMemory_

float* rtabmap::SIFT::cudaSiftMemory_

private

Definition at line 313 of file Features2d.h.

◆ cudaSiftMemorySize_

cv::Size rtabmap::SIFT::cudaSiftMemorySize_

private

Definition at line 314 of file Features2d.h.

◆ cudaSiftUpscaling_

bool rtabmap::SIFT::cudaSiftUpscaling_

private

Definition at line 316 of file Features2d.h.

◆ edgeThreshold_

double rtabmap::SIFT::edgeThreshold_

private

Definition at line 303 of file Features2d.h.

◆ gpu_

bool rtabmap::SIFT::gpu_

private

Definition at line 307 of file Features2d.h.

◆ guaussianThreshold_

float rtabmap::SIFT::guaussianThreshold_

private

Definition at line 308 of file Features2d.h.

◆ nOctaveLayers_

int rtabmap::SIFT::nOctaveLayers_

private

Definition at line 301 of file Features2d.h.

◆ preciseUpscale_

bool rtabmap::SIFT::preciseUpscale_

private

Definition at line 305 of file Features2d.h.

◆ rootSIFT_

bool rtabmap::SIFT::rootSIFT_

private

Definition at line 306 of file Features2d.h.

◆ sift_

cv::Ptr<CV_SIFT> rtabmap::SIFT::sift_

private

Definition at line 311 of file Features2d.h.

◆ sigma_

double rtabmap::SIFT::sigma_

private

Definition at line 304 of file Features2d.h.

◆ upscale_

bool rtabmap::SIFT::upscale_

private

Definition at line 309 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

◆ SIFT()

◆ ~SIFT()

Member Function Documentation

◆ generateDescriptorsImpl()

◆ generateKeypointsImpl()

◆ getType()

◆ parseParameters()

Member Data Documentation

◆ contrastThreshold_

◆ cudaSiftData_

◆ cudaSiftDescriptors_

◆ cudaSiftMemory_

◆ cudaSiftMemorySize_

◆ cudaSiftUpscaling_

◆ edgeThreshold_

◆ gpu_

◆ guaussianThreshold_

◆ nOctaveLayers_

◆ preciseUpscale_

◆ rootSIFT_

◆ sift_

◆ sigma_

◆ upscale_