Class for detecting and computing GFTT (Good Features To Track) features using OpenCV. More...

#include <cvGFTTFeatureDetector.h>

Inheritance diagram for isae::cvGFTTFeatureDetector:

Collaboration diagram for isae::cvGFTTFeatureDetector:

Public Member Functions
	cvGFTTFeatureDetector (int n, int n_per_cell, double max_matching_dist=64)

void	init () override
	Virtual function to initialize the feature detector. More...

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

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

Public Member Functions inherited from isae::AOpenCVFeatureDetector
	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...

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

	AFeatureDetector (int n, int n_per_cell)

	~AFeatureDetector ()

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)

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...

Protected Attributes inherited from isae::AOpenCVFeatureDetector
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...

Detailed Description

Class for detecting and computing GFTT (Good Features To Track) features using OpenCV.

Constructor & Destructor Documentation

◆ cvGFTTFeatureDetector()

isae::cvGFTTFeatureDetector::cvGFTTFeatureDetector	(	int	n,
		int	n_per_cell,
		double	max_matching_dist = `64`
	)

inline

Member Function Documentation

◆ computeDist()

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

inlineoverridevirtual

Virtual function to compute the distance between two feature descriptors.

Parameters

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

Implements isae::AFeatureDetector.

◆ detectAndComputeGrid()

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

overridevirtual

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).

Reimplemented from isae::AOpenCVFeatureDetector.

◆ init()

void isae::cvGFTTFeatureDetector::init ( )

inlineoverridevirtual

Virtual function to initialize the feature detector.

This method should be called before using the detector.