AOpenCVFeatureDetector class for detecting and computing features using OpenCV. More...

#include <aOpenCVFeatureDetector.h>

Inheritance diagram for isae::AOpenCVFeatureDetector:

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Collaboration diagram for isae::AOpenCVFeatureDetector:

Public Member Functions
	AOpenCVFeatureDetector (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...

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

void	retainBest (std::vector< cv::KeyPoint > &_keypoints, int n)
	Retain the n best keypoints based on their response. 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...

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 Attributes
cv::Ptr< cv::FeatureDetector >	_detector
	Stores the opencv detector. More...

cv::Ptr< cv::DescriptorExtractor >	_descriptor
	Stores the opencv descriptor extractor. More...

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

AOpenCVFeatureDetector class for detecting and computing features using OpenCV.

Constructor & Destructor Documentation

◆ AOpenCVFeatureDetector()

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

inline

Member Function Documentation

◆ computeDescriptor()

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

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.

◆ detectAndCompute()

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

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).

Implements isae::AFeatureDetector.

◆ detectAndComputeGrid()

std::vector< std::shared_ptr< AFeature > > isae::AOpenCVFeatureDetector::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.

Reimplemented in isae::cvGFTTFeatureDetector.

◆ retainBest()

void isae::AOpenCVFeatureDetector::retainBest	(	std::vector< cv::KeyPoint > &	_keypoints,
		int	n
	)

Retain the n best keypoints based on their response.

Member Data Documentation

◆ _descriptor

cv::Ptr<cv::DescriptorExtractor> isae::AOpenCVFeatureDetector::_descriptor

protected

Stores the opencv descriptor extractor.

◆ _detector

cv::Ptr<cv::FeatureDetector> isae::AOpenCVFeatureDetector::_detector

protected

Stores the opencv detector.

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

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

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AOpenCVFeatureDetector()

Member Function Documentation

◆ computeDescriptor()

◆ detectAndCompute()

◆ detectAndComputeGrid()

◆ retainBest()

Member Data Documentation

◆ _descriptor

◆ _detector