isae::AFeature Class Reference

Abstract class for 2D features. More...

#include <AFeature2D.h>

Inheritance diagram for isae::AFeature:

Collaboration diagram for isae::AFeature:

Public Member Functions
	AFeature ()
	AFeature (std::vector< Eigen::Vector2d > poses2d, cv::Mat desc=cv::Mat(), int octave=0, double sigma=1.0)
const std::vector< Eigen::Vector2d >	getPoints () const
void	setPoints (std::vector< Eigen::Vector2d > poses2d)
const cv::Mat &	getDescriptor () const
void	setDescriptor (cv::Mat descriptor)
const int &	getOctave () const
void	setOctave (int octave)
const float	getResponse ()
const double	getSigma ()
const std::string	getFeatureLabel () const
std::weak_ptr< ALandmark >	getLandmark ()
void	linkLandmark (std::shared_ptr< ALandmark > landmark)
void	unlinkLandmark ()
void	setSensor (std::shared_ptr< ImageSensor > sensor)
std::shared_ptr< ImageSensor >	getSensor ()
void	computeBearingVectors ()
	Compute the bearing vectors from the 2D points, usually inverting the camera projection model. More...
std::vector< Eigen::Vector3d >	getBearingVectors ()
std::vector< Eigen::Vector3d >	getRays ()
void	setOutlier ()
	Set the 2D feature as an outlier. More...
bool	isOutlier ()
	True if the feature is an outlier. More...

Protected Attributes
std::string	_feature_label
	Feature label, e.g. point, line, bouding box, etc. More...
std::vector< Eigen::Vector2d >	_poses2d
	2D coordinates of the points of the feature in the image More...
std::vector< Eigen::Vector3d >	_bearing_vectors
	Bearing vectors corresponding to the 2D points. More...
cv::Mat	_descriptor
	Descriptor of the feature, e.g. SIFT, ORB, etc. More...
int	_octave
	Octave of the feature, used in multi-scale feature detection. More...
float	_response
	Response of the feature, i.e. strength of the feature. More...
double	_sigma
	Noise level of the feature. More...
std::weak_ptr< ImageSensor >	_sensor
	Link to the parent sensor. More...
std::weak_ptr< ALandmark >	_landmark
	Link to the landmark associated with the feature. More...
bool	_outlier = false
	Flag to indicate if the feature is an outlier. More...
std::mutex	_feat_mtx

Detailed Description

Abstract class for 2D features.

Its main member is a vector of 2D points representing the feature in the image. It can be used to represent points, lines, bounding boxes, etc.

Constructor & Destructor Documentation

AFeature() [1/2]

isae::AFeature::AFeature ( )

inline

AFeature() [2/2]

isae::AFeature::AFeature ( std::vector< Eigen::Vector2d >  poses2d, cv::Mat  desc = cv::Mat(), int  octave = 0, double  sigma = 1.0  )

inline

Member Function Documentation

computeBearingVectors()

void isae::AFeature::computeBearingVectors

(

)

Compute the bearing vectors from the 2D points, usually inverting the camera projection model.

getBearingVectors()

std::vector<Eigen::Vector3d> isae::AFeature::getBearingVectors ( )

inline

getDescriptor()

const cv::Mat& isae::AFeature::getDescriptor ( ) const

inline

getFeatureLabel()

const std::string isae::AFeature::getFeatureLabel ( ) const

inline

getLandmark()

std::weak_ptr<ALandmark> isae::AFeature::getLandmark ( )

inline

getOctave()

const int& isae::AFeature::getOctave ( ) const

inline

getPoints()

const std::vector<Eigen::Vector2d> isae::AFeature::getPoints ( ) const

inline

getRays()

std::vector< Eigen::Vector3d > isae::AFeature::getRays

(

)

getResponse()

const float isae::AFeature::getResponse ( )

inline

getSensor()

std::shared_ptr<ImageSensor> isae::AFeature::getSensor ( )

inline

getSigma()

const double isae::AFeature::getSigma ( )

inline

isOutlier()

bool isae::AFeature::isOutlier ( )

inline

True if the feature is an outlier.

linkLandmark()

void isae::AFeature::linkLandmark ( std::shared_ptr< ALandmark >  landmark )

inline

setDescriptor()

void isae::AFeature::setDescriptor ( cv::Mat  descriptor )

inline

setOctave()

void isae::AFeature::setOctave ( int  octave )

inline

setOutlier()

void isae::AFeature::setOutlier ( )

inline

Set the 2D feature as an outlier.

setPoints()

void isae::AFeature::setPoints ( std::vector< Eigen::Vector2d >  poses2d )

inline

setSensor()

void isae::AFeature::setSensor ( std::shared_ptr< ImageSensor >  sensor )

inline

unlinkLandmark()

void isae::AFeature::unlinkLandmark ( )

inline

Member Data Documentation

_bearing_vectors

std::vector<Eigen::Vector3d> isae::AFeature::_bearing_vectors

protected

Bearing vectors corresponding to the 2D points.

_descriptor

cv::Mat isae::AFeature::_descriptor

protected

Descriptor of the feature, e.g. SIFT, ORB, etc.

_feat_mtx

std::mutex isae::AFeature::_feat_mtx

mutableprotected

_feature_label

std::string isae::AFeature::_feature_label

protected

Feature label, e.g. point, line, bouding box, etc.

_landmark

std::weak_ptr<ALandmark> isae::AFeature::_landmark

protected

Link to the landmark associated with the feature.

_octave

int isae::AFeature::_octave

protected

Octave of the feature, used in multi-scale feature detection.

_outlier

bool isae::AFeature::_outlier = false

protected

Flag to indicate if the feature is an outlier.

_poses2d

std::vector<Eigen::Vector2d> isae::AFeature::_poses2d

protected

2D coordinates of the points of the feature in the image

_response

float isae::AFeature::_response

protected

Response of the feature, i.e. strength of the feature.

_sensor

std::weak_ptr<ImageSensor> isae::AFeature::_sensor

protected

Link to the parent sensor.

_sigma

double isae::AFeature::_sigma

protected

Noise level of the feature.

---

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

• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/data/features/AFeature2D.h
• /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/data/features/AFeature2D.cpp