Class for custom feature detection and computation. More...

#include <aCustomFeatureDetector.h>

Inheritance diagram for isae::ACustomFeatureDetector:

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Collaboration diagram for isae::ACustomFeatureDetector:

Public Member Functions
	ACustomFeatureDetector (int n, int n_per_cell)

void	detectAndCompute (const cv::Mat &img, const cv::Mat &mask, std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int n_points=0)
	Virtual function to detect and compute features in an image. More...

std::vector< std::shared_ptr< AFeature > >	detectAndComputeGrid (const cv::Mat &img, const cv::Mat &mask, std::vector< std::shared_ptr< AFeature >> existing_features=std::vector< std::shared_ptr< AFeature >>())
	Virtual function to detect and compute features in a grid (bucketting). More...

virtual void	customDetectAndCompute (const cv::Mat &img, const cv::Mat &mask, std::vector< std::shared_ptr< AFeature >> &features)=0

virtual void	computeDescriptor (const cv::Mat &img, std::vector< std::shared_ptr< AFeature >> &features)=0
	Virtual function to compute descriptors for a set of features. More...

Public Member Functions inherited from isae::AFeatureDetector
EIGEN_MAKE_ALIGNED_OPERATOR_NEW	AFeatureDetector ()

	AFeatureDetector (int n, int n_per_cell)

	~AFeatureDetector ()

virtual void	init ()=0
	Virtual function to initialize the feature detector. More...

virtual double	computeDist (const cv::Mat &desc1, const cv::Mat &desc2) const =0
	Virtual function to compute the distance between two feature descriptors. More...

size_t	getNbDesiredFeatures ()

double	getMaxMatchingDist () const

bool	getFeaturesInBox (int x, int y, int w, int h, const std::vector< std::shared_ptr< AFeature >> &features, std::vector< std::shared_ptr< AFeature >> &features_in_box) const
	Get features from a feature set in a bounding box defined by (x, y, w, h). More...

void	deleteUndescribedFeatures (std::vector< std::shared_ptr< AFeature >> &features)

Protected Member Functions
const int	getDefaultNorm () const

Protected Attributes
int	_defaultNorm

Protected Attributes inherited from isae::AFeatureDetector
int	_n_total
	the maximum amount of features the detector should find for any given image More...

int	_n_per_cell
	the number of features per cell More...

double	_max_matching_dist
	distance threshold for matching More...

Additional Inherited Members
Static Public Member Functions inherited from isae::AFeatureDetector
static void	KeypointToFeature (std::vector< cv::KeyPoint > keypoints, cv::Mat descriptors, std::vector< std::shared_ptr< AFeature >> &features, const std::string &featurelabel="pointxd")
	Convert OpenCV keypoints and descriptors to a vector of AFeature pointers. More...

static void	FeatureToKeypoint (std::vector< std::shared_ptr< AFeature >> features, std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors)
	Convert a vector of AFeature pointers to OpenCV keypoints and descriptors. More...

static void	FeatureToP2f (std::vector< std::shared_ptr< AFeature >> features, std::vector< cv::Point2f > &p2fs)
	Convert a vector of AFeature pointers to a vector of cv::Point2f. More...

Detailed Description

Class for custom feature detection and computation.

This class extends the AFeatureDetector class and provides a framework for handcrafted feature detection and descriptor computation. It allows for grid-based detection and computation of features.

Constructor & Destructor Documentation

◆ ACustomFeatureDetector()

isae::ACustomFeatureDetector::ACustomFeatureDetector	(	int	n,
		int	n_per_cell
	)

inline

Member Function Documentation

◆ computeDescriptor()

virtual void isae::ACustomFeatureDetector::computeDescriptor	(	const cv::Mat &	img,
		std::vector< std::shared_ptr< AFeature >> &	features
	)

pure virtual

Virtual function to compute descriptors for a set of features.

Parameters

img	The input image from which to compute descriptors.
features	A vector of features for which to compute descriptors.

Implements isae::AFeatureDetector.

Implemented in isae::CsvKeypointDetector, isae::Line2DFeatureDetector, and isae::semanticBBoxFeatureDetector.

◆ customDetectAndCompute()

virtual void isae::ACustomFeatureDetector::customDetectAndCompute	(	const cv::Mat &	img,
		const cv::Mat &	mask,
		std::vector< std::shared_ptr< AFeature >> &	features
	)

pure virtual

Implemented in isae::CsvKeypointDetector, isae::Line2DFeatureDetector, and isae::semanticBBoxFeatureDetector.

◆ detectAndCompute()

void isae::ACustomFeatureDetector::detectAndCompute	(	const cv::Mat &	img,
		const cv::Mat &	mask,
		std::vector< cv::KeyPoint > &	keypoints,
		cv::Mat &	descriptors,
		int	n_points = `0`
	)

inlinevirtual

Virtual function to detect and compute features in an image.

Parameters

img	The input image in which to detect features.
mask	An optional mask to specify regions of interest in the image.
keypoints	Output vector to store detected keypoints.
descriptors	Output matrix to store computed descriptors.
n_points	The number of points to detect (optional, default is 0 which means all).

Implements isae::AFeatureDetector.

◆ detectAndComputeGrid()

std::vector< std::shared_ptr< AFeature > > isae::ACustomFeatureDetector::detectAndComputeGrid	(	const cv::Mat &	img,
		const cv::Mat &	mask,
		std::vector< std::shared_ptr< AFeature >>	existing_features = `std::vector< std::shared_ptr< AFeature >>()`
	)

virtual

Virtual function to detect and compute features in a grid (bucketting).

Parameters

img	The input image in which to detect features.
mask	An optional mask to specify regions of interest in the image.
existing_features	A vector of existing features to consider (optional).

Implements isae::AFeatureDetector.

◆ getDefaultNorm()

const int isae::ACustomFeatureDetector::getDefaultNorm ( ) const

inlineprotected

Member Data Documentation

◆ _defaultNorm

int isae::ACustomFeatureDetector::_defaultNorm

protected

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

/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/featuredetectors/aCustomFeatureDetector.h
/home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/featuredetectors/aCustomFeatureDetector.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ ACustomFeatureDetector()

Member Function Documentation

◆ computeDescriptor()

◆ customDetectAndCompute()

◆ detectAndCompute()

◆ detectAndComputeGrid()

◆ getDefaultNorm()

Member Data Documentation

◆ _defaultNorm