rtabmap::SIFT Class Reference

SIFT detector and descriptor (optional GPU / CudaSift). More...

#include <Features2d.h>

Inheritance diagram for rtabmap::SIFT:

Collaboration diagram for rtabmap::SIFT:

Public Member Functions
	SIFT (const ParametersMap &parameters=ParametersMap())
virtual void	parseParameters (const ParametersMap &parameters) override
virtual Feature2D::Type	getType () const override
virtual bool	isGpuAvailable () const override
	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.
Public Member Functions inherited from rtabmap::Feature2D
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 const ParametersMap &	getParameters () const

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 , kFeatureSuperPointRpautrat =16 , kFeatureEnd }
	Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
Static Public Member Functions inherited from rtabmap::Feature2D
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 inherited from rtabmap::Feature2D
	Feature2D (const ParametersMap &parameters=ParametersMap())

Detailed Description

SIFT detector and descriptor (optional GPU / CudaSift).

Definition at line 348 of file Features2d.h.

Member Function Documentation

parseParameters()

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

overridevirtual

Reimplemented from rtabmap::Feature2D.

getType()

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

inlineoverridevirtual

Implements rtabmap::Feature2D.

Definition at line 355 of file Features2d.h.

isGpuAvailable()

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

overridevirtual

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 from rtabmap::Feature2D.

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

• corelib/include/rtabmap/core/Features2d.h