Abstract class for feature detectors. More...

#include <aFeatureDetector.h>

Inheritance diagram for isae::AFeatureDetector:

[legend]

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

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...

virtual 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 >>())=0
	Virtual function to detect and compute features in a grid (bucketting). 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)

Static Public Member Functions
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...

Protected Attributes
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...

Detailed Description

Abstract class for feature detectors.

This class defines the interface for feature detection and descriptor computation.

Constructor & Destructor Documentation

◆ AFeatureDetector() [1/2]

EIGEN_MAKE_ALIGNED_OPERATOR_NEW isae::AFeatureDetector::AFeatureDetector ( )

inline

◆ AFeatureDetector() [2/2]

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

inline

◆ ~AFeatureDetector()

isae::AFeatureDetector::~AFeatureDetector ( )

inline

Member Function Documentation

◆ computeDescriptor()

virtual void isae::AFeatureDetector::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.

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

◆ computeDist()

virtual double isae::AFeatureDetector::computeDist	(	const cv::Mat &	desc1,
		const cv::Mat &	desc2
	)		const

pure virtual

Virtual function to compute the distance between two feature descriptors.

Parameters

desc1	The first feature descriptor.
desc2	The second feature descriptor.

Implemented in isae::CsvKeypointDetector, isae::Line2DFeatureDetector, isae::cvBRISKFeatureDetector, isae::cvFASTFeatureDetector, isae::cvGFTTFeatureDetector, isae::cvKAZEFeatureDetector, isae::semanticBBoxFeatureDetector, and isae::cvORBFeatureDetector.

◆ deleteUndescribedFeatures()

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

◆ detectAndCompute()

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

pure virtual

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).

Implemented in isae::ACustomFeatureDetector, and isae::AOpenCVFeatureDetector.

◆ detectAndComputeGrid()

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

pure 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).

Implemented in isae::AOpenCVFeatureDetector, isae::ACustomFeatureDetector, and isae::cvGFTTFeatureDetector.

◆ FeatureToKeypoint()

void isae::AFeatureDetector::FeatureToKeypoint	(	std::vector< std::shared_ptr< AFeature >>	features,
		std::vector< cv::KeyPoint > &	keypoints,
		cv::Mat &	descriptors
	)

static

Convert a vector of AFeature pointers to OpenCV keypoints and descriptors.

Parameters

features	The input vector of AFeature pointers.
keypoints	Output vector to store the converted OpenCV keypoints.
descriptors	Output matrix to store the converted descriptors.

◆ FeatureToP2f()

void isae::AFeatureDetector::FeatureToP2f	(	std::vector< std::shared_ptr< AFeature >>	features,
		std::vector< cv::Point2f > &	p2fs
	)

static

Convert a vector of AFeature pointers to a vector of cv::Point2f.

Parameters

features	The input vector of AFeature pointers.
p2fs	Output vector to store the converted cv::Point2f points.

◆ getFeaturesInBox()

bool isae::AFeatureDetector::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).

Parameters

x	The x-coordinate of the top-left corner of the bounding box.
y	The y-coordinate of the top-left corner of the bounding box.
w	The width of the bounding box.
h	The height of the bounding box.
features	The vector of features to search in.
features_in_box	The vector to store the features found in the bounding box.

◆ getMaxMatchingDist()

double isae::AFeatureDetector::getMaxMatchingDist ( ) const

inline

◆ getNbDesiredFeatures()

size_t isae::AFeatureDetector::getNbDesiredFeatures ( )

inline

◆ init()

virtual void isae::AFeatureDetector::init ( )

pure virtual

Virtual function to initialize the feature detector.

This method should be called before using the detector.

Implemented in isae::CsvKeypointDetector, isae::Line2DFeatureDetector, isae::cvBRISKFeatureDetector, isae::cvFASTFeatureDetector, isae::cvGFTTFeatureDetector, isae::cvKAZEFeatureDetector, isae::cvORBFeatureDetector, and isae::semanticBBoxFeatureDetector.

◆ KeypointToFeature()

void isae::AFeatureDetector::KeypointToFeature	(	std::vector< cv::KeyPoint >	keypoints,
		cv::Mat	descriptors,
		std::vector< std::shared_ptr< AFeature >> &	features,
		const std::string &	featurelabel = `"pointxd"`
	)

static

Convert OpenCV keypoints and descriptors to a vector of AFeature pointers.

Parameters

keypoints	The input vector of OpenCV keypoints.
descriptors	The input matrix of descriptors corresponding to the keypoints.
features	Output vector to store the converted AFeature pointers.
featurelabel	Optional label for the features (default is "pointxd").

Member Data Documentation

◆ _max_matching_dist

double isae::AFeatureDetector::_max_matching_dist

protected

distance threshold for matching

◆ _n_per_cell

int isae::AFeatureDetector::_n_per_cell

protected

the number of features per cell

◆ _n_total

int isae::AFeatureDetector::_n_total

protected

the maximum amount of features the detector should find for any given image

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

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

Public Member Functions

Static Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ AFeatureDetector() [1/2]

◆ AFeatureDetector() [2/2]

◆ ~AFeatureDetector()

Member Function Documentation

◆ computeDescriptor()

◆ computeDist()

◆ deleteUndescribedFeatures()

◆ detectAndCompute()

◆ detectAndComputeGrid()

◆ FeatureToKeypoint()

◆ FeatureToP2f()

◆ getFeaturesInBox()

◆ getMaxMatchingDist()

◆ getNbDesiredFeatures()

◆ init()

◆ KeypointToFeature()

Member Data Documentation

◆ _max_matching_dist

◆ _n_per_cell

◆ _n_total