Abstract 2D feature detector and descriptor extractor for visual SLAM. More...

#include <Features2d.h>

Inheritance diagram for rtabmap::Feature2D:

[legend]

Public Types
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 , kFeatureSuperPointRpautrat =16 , kFeatureEnd }
	Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...

Public Member Functions
int	getMaxFeatures () const

bool	getSSC () const

float	getMinDepth () const

float	getMaxDepth () const

int	getGridRows () const

int	getGridCols () const

std::vector< cv::KeyPoint >	generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
	Detects keypoints in a grayscale `image` (CV_8UC1); optional depth or 8U mask.

cv::Mat	generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
	Computes descriptors for `keypoints` (may shrink the list in some detectors).

std::vector< cv::Point3f >	generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
	Back-projects keypoints to 3D using depth or stereo in `data`.

virtual void	parseParameters (const ParametersMap &parameters)

virtual const ParametersMap &	getParameters () const

virtual Feature2D::Type	getType () const =0

virtual bool	isGpuAvailable () const
	Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.

Static Public Member Functions
static std::string	typeName (Type type)

static Feature2D *	create (const ParametersMap &parameters=ParametersMap())
	Creates a detector from Kp/DetectorStrategy in `parameters`. Caller owns the pointer.

static Feature2D *	create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
	Creates a detector of the given `type`. Caller owns the pointer.

static bool	isAvailable (Feature2D::Type type)
	Returns true if `type` is available (RTAB-Map is built with it).

static void	filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
	Keeps keypoints whose depth at (u,v) is in (`minDepth`, `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)
	Keeps keypoints with stereo disparity ≥ `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, const cv::Size &imageSize=cv::Size(), bool ssc=false)
	Reduces keypoint count (by response or SSC spatial distribution).

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

static cv::Rect	computeRoi (const cv::Mat &image, const std::string &roiRatios)
	ROI from Kp/RoiRatios string (`"left top right bottom"` fractions).

static cv::Rect	computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)

Protected Member Functions
	Feature2D (const ParametersMap &parameters=ParametersMap())

Detailed Description

Abstract 2D feature detector and descriptor extractor for visual SLAM.

Factory create() builds a concrete detector from Type or from Kp/DetectorStrategy in a ParametersMap. Common tuning keys include Kp/MaxFeatures, Kp/GridRows, Kp/GridCols, Kp/SSC, depth filters (Kp/MinDepth, Kp/MaxDepth), ROI (Kp/RoiRatios), and sub-pixel refinement.

Pipeline: generateKeypoints() (grid + ROI + optional mask) then generateDescriptors(). Static helpers filter or cap keypoints before/after matching. generateKeypoints3D() projects features using stereo or depth when available in SensorData.

See also: Memory; RegistrationVis

Definition at line 145 of file Features2d.h.

Member Enumeration Documentation

◆ Type

enum rtabmap::Feature2D::Type

Built-in detector/descriptor strategy (Kp/DetectorStrategy).

Definition at line 148 of file Features2d.h.

Member Function Documentation

◆ typeName()

static std::string rtabmap::Feature2D::typeName ( Type type )

inlinestatic

Returns: Human-readable name for type (e.g. "ORB", "GFTT+BRIEF").

Definition at line 169 of file Features2d.h.

◆ getMaxFeatures()

int rtabmap::Feature2D::getMaxFeatures ( ) const

inline

Definition at line 260 of file Features2d.h.

◆ getSSC()

bool rtabmap::Feature2D::getSSC ( ) const

inline

Definition at line 261 of file Features2d.h.

◆ getMinDepth()

float rtabmap::Feature2D::getMinDepth ( ) const

inline

Definition at line 262 of file Features2d.h.

◆ getMaxDepth()

float rtabmap::Feature2D::getMaxDepth ( ) const

inline

Definition at line 263 of file Features2d.h.

◆ getGridRows()

int rtabmap::Feature2D::getGridRows ( ) const

inline

Definition at line 264 of file Features2d.h.

◆ getGridCols()

int rtabmap::Feature2D::getGridCols ( ) const

inline

Definition at line 265 of file Features2d.h.

◆ getParameters()

virtual const ParametersMap & rtabmap::Feature2D::getParameters ( ) const

inlinevirtual

Definition at line 284 of file Features2d.h.

◆ isGpuAvailable()

virtual bool rtabmap::Feature2D::isGpuAvailable ( ) const

inlinevirtual

Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.

Reimplemented in rtabmap::SURF, rtabmap::SIFT, rtabmap::ORB, rtabmap::FAST, rtabmap::GFTT, rtabmap::SuperPointTorch, and rtabmap::SuperPointRpautrat.

Definition at line 294 of file Features2d.h.

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

corelib/include/rtabmap/core/Features2d.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Member Enumeration Documentation

◆ Type

Member Function Documentation

◆ typeName()

◆ getMaxFeatures()

◆ getSSC()

◆ getMinDepth()

◆ getMaxDepth()

◆ getGridRows()

◆ getGridCols()

◆ getParameters()

◆ isGpuAvailable()