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< div class = "fragment" >< div class = "line" >< a id = "l00001" name = "l00001" ></ a >< span class = "lineno" > 1</ span >< span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00002" name = "l00002" ></ a >< span class = "lineno" > 2</ span >< span class = "comment" > Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</ span ></ div >
< div class = "line" >< a id = "l00003" name = "l00003" ></ a >< span class = "lineno" > 3</ span >< span class = "comment" > All rights reserved.</ span ></ div >
< div class = "line" >< a id = "l00004" name = "l00004" ></ a >< span class = "lineno" > 4</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00005" name = "l00005" ></ a >< span class = "lineno" > 5</ span >< span class = "comment" > Redistribution and use in source and binary forms, with or without</ span ></ div >
< div class = "line" >< a id = "l00006" name = "l00006" ></ a >< span class = "lineno" > 6</ span >< span class = "comment" > modification, are permitted provided that the following conditions are met:</ span ></ div >
< div class = "line" >< a id = "l00007" name = "l00007" ></ a >< span class = "lineno" > 7</ span >< span class = "comment" > * Redistributions of source code must retain the above copyright</ span ></ div >
< div class = "line" >< a id = "l00008" name = "l00008" ></ a >< span class = "lineno" > 8</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer.</ span ></ div >
< div class = "line" >< a id = "l00009" name = "l00009" ></ a >< span class = "lineno" > 9</ span >< span class = "comment" > * Redistributions in binary form must reproduce the above copyright</ span ></ div >
< div class = "line" >< a id = "l00010" name = "l00010" ></ a >< span class = "lineno" > 10</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer in the</ span ></ div >
< div class = "line" >< a id = "l00011" name = "l00011" ></ a >< span class = "lineno" > 11</ span >< span class = "comment" > documentation and/or other materials provided with the distribution.</ span ></ div >
< div class = "line" >< a id = "l00012" name = "l00012" ></ a >< span class = "lineno" > 12</ span >< span class = "comment" > * Neither the name of the Universite de Sherbrooke nor the</ span ></ div >
< div class = "line" >< a id = "l00013" name = "l00013" ></ a >< span class = "lineno" > 13</ span >< span class = "comment" > names of its contributors may be used to endorse or promote products</ span ></ div >
< div class = "line" >< a id = "l00014" name = "l00014" ></ a >< span class = "lineno" > 14</ span >< span class = "comment" > derived from this software without specific prior written permission.</ span ></ div >
< div class = "line" >< a id = "l00015" name = "l00015" ></ a >< span class = "lineno" > 15</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00016" name = "l00016" ></ a >< span class = "lineno" > 16</ span >< span class = "comment" > THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS " AS IS" AND</ span ></ div >
< div class = "line" >< a id = "l00017" name = "l00017" ></ a >< span class = "lineno" > 17</ span >< span class = "comment" > ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</ span ></ div >
< div class = "line" >< a id = "l00018" name = "l00018" ></ a >< span class = "lineno" > 18</ span >< span class = "comment" > WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</ span ></ div >
< div class = "line" >< a id = "l00019" name = "l00019" ></ a >< span class = "lineno" > 19</ span >< span class = "comment" > DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</ span ></ div >
< div class = "line" >< a id = "l00020" name = "l00020" ></ a >< span class = "lineno" > 20</ span >< span class = "comment" > DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</ span ></ div >
< div class = "line" >< a id = "l00021" name = "l00021" ></ a >< span class = "lineno" > 21</ span >< span class = "comment" > (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</ span ></ div >
< div class = "line" >< a id = "l00022" name = "l00022" ></ a >< span class = "lineno" > 22</ span >< span class = "comment" > LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</ span ></ div >
< div class = "line" >< a id = "l00023" name = "l00023" ></ a >< span class = "lineno" > 23</ span >< span class = "comment" > ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</ span ></ div >
< div class = "line" >< a id = "l00024" name = "l00024" ></ a >< span class = "lineno" > 24</ span >< span class = "comment" > (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</ span ></ div >
< div class = "line" >< a id = "l00025" name = "l00025" ></ a >< span class = "lineno" > 25</ span >< span class = "comment" > SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</ span ></ div >
< div class = "line" >< a id = "l00026" name = "l00026" ></ a >< span class = "lineno" > 26</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00027" name = "l00027" ></ a >< span class = "lineno" > 27</ span > </ div >
< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #ifndef FEATURES2D_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define FEATURES2D_H_</ span ></ div >
< div class = "line" >< a id = "l00030" name = "l00030" ></ a >< span class = "lineno" > 30</ span > </ div >
< div class = "line" >< a id = "l00031" name = "l00031" ></ a >< span class = "lineno" > 31</ span >< span class = "preprocessor" > #include " rtabmap/core/rtabmap_core_export.h" </ span > < span class = "comment" > // DLL export/import defines</ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span > </ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span >< span class = "preprocessor" > #include < opencv2/highgui/highgui.hpp> </ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #include < opencv2/core/core.hpp> </ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span >< span class = "preprocessor" > #if CV_MAJOR_VERSION < 5</ span ></ div >
< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span >< span class = "preprocessor" > #include < opencv2/features2d/features2d.hpp> </ span ></ div >
< div class = "line" >< a id = "l00037" name = "l00037" ></ a >< span class = "lineno" > 37</ span >< span class = "preprocessor" > #else</ span ></ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span >< span class = "preprocessor" > #include < opencv2/features.hpp> </ span ></ div >
< div class = "line" >< a id = "l00039" name = "l00039" ></ a >< span class = "lineno" > 39</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00040" name = "l00040" ></ a >< span class = "lineno" > 40</ span >< span class = "preprocessor" > #include < list> </ span ></ div >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" > 41</ span >< span class = "preprocessor" > #include < numeric> </ span ></ div >
< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span >< span class = "preprocessor" > #include " rtabmap/core/Parameters.h" </ span ></ div >
< div class = "line" >< a id = "l00043" name = "l00043" ></ a >< span class = "lineno" > 43</ span >< span class = "preprocessor" > #include " rtabmap/core/SensorData.h" </ span ></ div >
< div class = "line" >< a id = "l00044" name = "l00044" ></ a >< span class = "lineno" > 44</ span > </ div >
< div class = "line" >< a id = "l00045" name = "l00045" ></ a >< span class = "lineno" > 45</ span >< span class = "preprocessor" > #if CV_MAJOR_VERSION < 3</ span ></ div >
< div class = "line" >< a id = "l00046" name = "l00046" ></ a >< span class = "lineno" > 46</ span >< span class = "keyword" > namespace </ span > cv{</ div >
< div class = "line" >< a id = "l00047" name = "l00047" ></ a >< span class = "lineno" > 47</ span >< span class = "keyword" > class </ span > SURF;</ div >
< div class = "line" >< a id = "l00048" name = "l00048" ></ a >< span class = "lineno" > 48</ span >< span class = "keyword" > class </ span > SIFT;</ div >
< div class = "line" >< a id = "l00049" name = "l00049" ></ a >< span class = "lineno" > 49</ span >< span class = "keyword" > namespace </ span > gpu {</ div >
< div class = "line" >< a id = "l00050" name = "l00050" ></ a >< span class = "lineno" > 50</ span > < span class = "keyword" > class </ span > SURF_GPU;</ div >
< div class = "line" >< a id = "l00051" name = "l00051" ></ a >< span class = "lineno" > 51</ span > < span class = "keyword" > class </ span > ORB_GPU;</ div >
< div class = "line" >< a id = "l00052" name = "l00052" ></ a >< span class = "lineno" > 52</ span > < span class = "keyword" > class </ span > FAST_GPU;</ div >
< div class = "line" >< a id = "l00053" name = "l00053" ></ a >< span class = "lineno" > 53</ span > < span class = "keyword" > class </ span > GoodFeaturesToTrackDetector_GPU;</ div >
< div class = "line" >< a id = "l00054" name = "l00054" ></ a >< span class = "lineno" > 54</ span > }</ div >
< div class = "line" >< a id = "l00055" name = "l00055" ></ a >< span class = "lineno" > 55</ span > }</ div >
< div class = "line" >< a id = "l00056" name = "l00056" ></ a >< span class = "lineno" > 56</ span >< span class = "keyword" > typedef</ span > cv::SIFT CV_SIFT;</ div >
< div class = "line" >< a id = "l00057" name = "l00057" ></ a >< span class = "lineno" > 57</ span >< span class = "keyword" > typedef</ span > cv::SURF CV_SURF;</ div >
< div class = "line" >< a id = "l00058" name = "l00058" ></ a >< span class = "lineno" > 58</ span >< span class = "keyword" > typedef</ span > cv::FastFeatureDetector CV_FAST;</ div >
< div class = "line" >< a id = "l00059" name = "l00059" ></ a >< span class = "lineno" > 59</ span >< span class = "keyword" > typedef</ span > cv::FREAK CV_FREAK;</ div >
< div class = "line" >< a id = "l00060" name = "l00060" ></ a >< span class = "lineno" > 60</ span >< span class = "keyword" > typedef</ span > cv::GFTTDetector CV_GFTT;</ div >
< div class = "line" >< a id = "l00061" name = "l00061" ></ a >< span class = "lineno" > 61</ span >< span class = "keyword" > typedef</ span > cv::BriefDescriptorExtractor CV_BRIEF;</ div >
< div class = "line" >< a id = "l00062" name = "l00062" ></ a >< span class = "lineno" > 62</ span >< span class = "keyword" > typedef</ span > cv::BRISK CV_BRISK;</ div >
< div class = "line" >< a id = "l00063" name = "l00063" ></ a >< span class = "lineno" > 63</ span >< span class = "keyword" > typedef</ span > cv::gpu::SURF_GPU CV_SURF_GPU;</ div >
< div class = "line" >< a id = "l00064" name = "l00064" ></ a >< span class = "lineno" > 64</ span >< span class = "keyword" > typedef</ span > cv::gpu::ORB_GPU CV_ORB_GPU;</ div >
< div class = "line" >< a id = "l00065" name = "l00065" ></ a >< span class = "lineno" > 65</ span >< span class = "keyword" > typedef</ span > cv::gpu::FAST_GPU CV_FAST_GPU;</ div >
< div class = "line" >< a id = "l00066" name = "l00066" ></ a >< span class = "lineno" > 66</ span >< span class = "keyword" > typedef</ span > cv::gpu::GoodFeaturesToTrackDetector_GPU CV_GFTT_GPU;</ div >
< div class = "line" >< a id = "l00067" name = "l00067" ></ a >< span class = "lineno" > 67</ span >< span class = "preprocessor" > #else</ span ></ div >
< div class = "line" >< a id = "l00068" name = "l00068" ></ a >< span class = "lineno" > 68</ span >< span class = "keyword" > namespace </ span > cv{</ div >
< div class = "line" >< a id = "l00069" name = "l00069" ></ a >< span class = "lineno" > 69</ span >< span class = "keyword" > namespace </ span > xfeatures2d {</ div >
< div class = "line" >< a id = "l00070" name = "l00070" ></ a >< span class = "lineno" > 70</ span >< span class = "keyword" > class </ span > FREAK;</ div >
< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" > 71</ span >< span class = "keyword" > class </ span > DAISY;</ div >
< div class = "line" >< a id = "l00072" name = "l00072" ></ a >< span class = "lineno" > 72</ span >< span class = "keyword" > class </ span > BriefDescriptorExtractor;</ div >
< div class = "line" >< a id = "l00073" name = "l00073" ></ a >< span class = "lineno" > 73</ span >< span class = "preprocessor" > #if (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < = 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION< 11)))</ span ></ div >
< div class = "line" >< a id = "l00074" name = "l00074" ></ a >< span class = "lineno" > 74</ span >< span class = "keyword" > class </ span > SIFT;</ div >
< div class = "line" >< a id = "l00075" name = "l00075" ></ a >< span class = "lineno" > 75</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00076" name = "l00076" ></ a >< span class = "lineno" > 76</ span >< span class = "keyword" > class </ span > SURF;</ div >
< div class = "line" >< a id = "l00077" name = "l00077" ></ a >< span class = "lineno" > 77</ span >< span class = "preprocessor" > #if (CV_MAJOR_VERSION == 5)</ span ></ div >
< div class = "line" >< a id = "l00078" name = "l00078" ></ a >< span class = "lineno" > 78</ span >< span class = "keyword" > class </ span > BRISK;</ div >
< div class = "line" >< a id = "l00079" name = "l00079" ></ a >< span class = "lineno" > 79</ span >< span class = "keyword" > class </ span > KAZE;</ div >
< div class = "line" >< a id = "l00080" name = "l00080" ></ a >< span class = "lineno" > 80</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00081" name = "l00081" ></ a >< span class = "lineno" > 81</ span > }</ div >
< div class = "line" >< a id = "l00082" name = "l00082" ></ a >< span class = "lineno" > 82</ span >< span class = "keyword" > namespace </ span > cuda {</ div >
< div class = "line" >< a id = "l00083" name = "l00083" ></ a >< span class = "lineno" > 83</ span >< span class = "keyword" > class </ span > FastFeatureDetector;</ div >
< div class = "line" >< a id = "l00084" name = "l00084" ></ a >< span class = "lineno" > 84</ span >< span class = "keyword" > class </ span > ORB;</ div >
< div class = "line" >< a id = "l00085" name = "l00085" ></ a >< span class = "lineno" > 85</ span >< span class = "keyword" > class </ span > SURF_CUDA;</ div >
< div class = "line" >< a id = "l00086" name = "l00086" ></ a >< span class = "lineno" > 86</ span >< span class = "keyword" > class </ span > CornersDetector;</ div >
< div class = "line" >< a id = "l00087" name = "l00087" ></ a >< span class = "lineno" > 87</ span > }</ div >
< div class = "line" >< a id = "l00088" name = "l00088" ></ a >< span class = "lineno" > 88</ span > }</ div >
< div class = "line" >< a id = "l00089" name = "l00089" ></ a >< span class = "lineno" > 89</ span >< span class = "preprocessor" > #if (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < = 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION< 11)))</ span ></ div >
< div class = "line" >< a id = "l00090" name = "l00090" ></ a >< span class = "lineno" > 90</ span >< span class = "keyword" > typedef</ span > cv::xfeatures2d::SIFT CV_SIFT;</ div >
< div class = "line" >< a id = "l00091" name = "l00091" ></ a >< span class = "lineno" > 91</ span >< span class = "preprocessor" > #else</ span ></ div >
< div class = "line" >< a id = "l00092" name = "l00092" ></ a >< span class = "lineno" > 92</ span >< span class = "keyword" > typedef</ span > cv::SIFT CV_SIFT; < span class = "comment" > // SIFT is back in features2d since 4.4.0 / 3.4.11</ span ></ div >
< div class = "line" >< a id = "l00093" name = "l00093" ></ a >< span class = "lineno" > 93</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00094" name = "l00094" ></ a >< span class = "lineno" > 94</ span >< span class = "keyword" > typedef</ span > cv::xfeatures2d::SURF CV_SURF;</ div >
< div class = "line" >< a id = "l00095" name = "l00095" ></ a >< span class = "lineno" > 95</ span >< span class = "keyword" > typedef</ span > cv::FastFeatureDetector CV_FAST;</ div >
< div class = "line" >< a id = "l00096" name = "l00096" ></ a >< span class = "lineno" > 96</ span >< span class = "keyword" > typedef</ span > cv::xfeatures2d::FREAK CV_FREAK;</ div >
< div class = "line" >< a id = "l00097" name = "l00097" ></ a >< span class = "lineno" > 97</ span >< span class = "keyword" > typedef</ span > cv::xfeatures2d::DAISY CV_DAISY;</ div >
< div class = "line" >< a id = "l00098" name = "l00098" ></ a >< span class = "lineno" > 98</ span >< span class = "keyword" > typedef</ span > cv::GFTTDetector CV_GFTT;</ div >
< div class = "line" >< a id = "l00099" name = "l00099" ></ a >< span class = "lineno" > 99</ span >< span class = "keyword" > typedef</ span > cv::xfeatures2d::BriefDescriptorExtractor CV_BRIEF;</ div >
< div class = "line" >< a id = "l00100" name = "l00100" ></ a >< span class = "lineno" > 100</ span >< span class = "preprocessor" > #if (CV_MAJOR_VERSION < 5)</ span ></ div >
< div class = "line" >< a id = "l00101" name = "l00101" ></ a >< span class = "lineno" > 101</ span >< span class = "keyword" > typedef</ span > cv::BRISK CV_BRISK;</ div >
< div class = "line" >< a id = "l00102" name = "l00102" ></ a >< span class = "lineno" > 102</ span >< span class = "keyword" > typedef</ span > cv::KAZE CV_KAZE;</ div >
< div class = "line" >< a id = "l00103" name = "l00103" ></ a >< span class = "lineno" > 103</ span >< span class = "preprocessor" > #else</ span ></ div >
< div class = "line" >< a id = "l00104" name = "l00104" ></ a >< span class = "lineno" > 104</ span >< span class = "keyword" > typedef</ span > cv::xfeatures2d::BRISK CV_BRISK;</ div >
< div class = "line" >< a id = "l00105" name = "l00105" ></ a >< span class = "lineno" > 105</ span >< span class = "keyword" > typedef</ span > cv::xfeatures2d::KAZE CV_KAZE;</ div >
< div class = "line" >< a id = "l00106" name = "l00106" ></ a >< span class = "lineno" > 106</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00107" name = "l00107" ></ a >< span class = "lineno" > 107</ span >< span class = "keyword" > typedef</ span > cv::ORB CV_ORB;</ div >
< div class = "line" >< a id = "l00108" name = "l00108" ></ a >< span class = "lineno" > 108</ span >< span class = "keyword" > typedef</ span > cv::cuda::SURF_CUDA CV_SURF_GPU;</ div >
< div class = "line" >< a id = "l00109" name = "l00109" ></ a >< span class = "lineno" > 109</ span >< span class = "keyword" > typedef</ span > cv::cuda::ORB CV_ORB_GPU;</ div >
< div class = "line" >< a id = "l00110" name = "l00110" ></ a >< span class = "lineno" > 110</ span >< span class = "keyword" > typedef</ span > cv::cuda::FastFeatureDetector CV_FAST_GPU;</ div >
< div class = "line" >< a id = "l00111" name = "l00111" ></ a >< span class = "lineno" > 111</ span >< span class = "keyword" > typedef</ span > cv::cuda::CornersDetector CV_GFTT_GPU;</ div >
< div class = "line" >< a id = "l00112" name = "l00112" ></ a >< span class = "lineno" > 112</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00113" name = "l00113" ></ a >< span class = "lineno" > 113</ span > </ div >
< div class = "line" >< a id = "l00114" name = "l00114" ></ a >< span class = "lineno" > 114</ span >< span class = "comment" > // CudaSift fork: https://github.com/matlabbe/CudaSift</ span ></ div >
< div class = "line" >< a id = "l00115" name = "l00115" ></ a >< span class = "lineno" > 115</ span >< span class = "keyword" > class </ span > SiftData;</ div >
< div class = "line" >< a id = "l00116" name = "l00116" ></ a >< span class = "lineno" > 116</ span > </ div >
< div class = "line" >< a id = "l00117" name = "l00117" ></ a >< span class = "lineno" > 117</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a > {</ div >
< div class = "line" >< a id = "l00118" name = "l00118" ></ a >< span class = "lineno" > 118</ span > </ div >
< div class = "line" >< a id = "l00119" name = "l00119" ></ a >< span class = "lineno" > 119</ span >< span class = "keyword" > class </ span > ORBextractor;</ div >
< div class = "line" >< a id = "l00120" name = "l00120" ></ a >< span class = "lineno" > 120</ span >< span class = "keyword" > class </ span > SPDetector;</ div >
< div class = "line" >< a id = "l00121" name = "l00121" ></ a >< span class = "lineno" > 121</ span >< span class = "keyword" > class </ span > SPDetectorRpautrat;</ div >
< div class = "line" >< a id = "l00122" name = "l00122" ></ a >< span class = "lineno" > 122</ span > </ div >
< div class = "line" >< a id = "l00123" name = "l00123" ></ a >< span class = "lineno" > 123</ span >< span class = "keyword" > class </ span > Stereo;</ div >
< div class = "line" >< a id = "l00124" name = "l00124" ></ a >< span class = "lineno" > 124</ span >< span class = "preprocessor" > #if CV_MAJOR_VERSION < 3</ span ></ div >
< div class = "line" >< a id = "l00125" name = "l00125" ></ a >< span class = "lineno" > 125</ span >< span class = "keyword" > class </ span > CV_ORB;</ div >
< div class = "line" >< a id = "l00126" name = "l00126" ></ a >< span class = "lineno" > 126</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00127" name = "l00127" ></ a >< span class = "lineno" > 127</ span > </ div >
< div class = "foldopen" id = "foldopen00145" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00145" name = "l00145" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Feature2D.html" > 145</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a > {</ div >
< div class = "line" >< a id = "l00146" name = "l00146" ></ a >< span class = "lineno" > 146</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "foldopen" id = "foldopen00148" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00148" name = "l00148" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > 148</ a ></ span > < span class = "keyword" > enum</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Type</ a > {kFeatureUndef=-1,</ div >
< div class = "line" >< a id = "l00149" name = "l00149" ></ a >< span class = "lineno" > 149</ span > kFeatureSurf=0,</ div >
< div class = "line" >< a id = "l00150" name = "l00150" ></ a >< span class = "lineno" > 150</ span > kFeatureSift=1,</ div >
< div class = "line" >< a id = "l00151" name = "l00151" ></ a >< span class = "lineno" > 151</ span > kFeatureOrb=2,</ div >
< div class = "line" >< a id = "l00152" name = "l00152" ></ a >< span class = "lineno" > 152</ span > kFeatureFastFreak=3,</ div >
< div class = "line" >< a id = "l00153" name = "l00153" ></ a >< span class = "lineno" > 153</ span > kFeatureFastBrief=4,</ div >
< div class = "line" >< a id = "l00154" name = "l00154" ></ a >< span class = "lineno" > 154</ span > kFeatureGfttFreak=5,</ div >
< div class = "line" >< a id = "l00155" name = "l00155" ></ a >< span class = "lineno" > 155</ span > kFeatureGfttBrief=6,</ div >
< div class = "line" >< a id = "l00156" name = "l00156" ></ a >< span class = "lineno" > 156</ span > kFeatureBrisk=7,</ div >
< div class = "line" >< a id = "l00157" name = "l00157" ></ a >< span class = "lineno" > 157</ span > kFeatureGfttOrb=8, < span class = "comment" > //new 0.10.11</ span ></ div >
< div class = "line" >< a id = "l00158" name = "l00158" ></ a >< span class = "lineno" > 158</ span > kFeatureKaze=9, < span class = "comment" > //new 0.13.2</ span ></ div >
< div class = "line" >< a id = "l00159" name = "l00159" ></ a >< span class = "lineno" > 159</ span > kFeatureOrbOctree=10, < span class = "comment" > //new 0.19.2</ span ></ div >
< div class = "line" >< a id = "l00160" name = "l00160" ></ a >< span class = "lineno" > 160</ span > kFeatureSuperPointTorch=11, < span class = "comment" > //new 0.19.7</ span ></ div >
< div class = "line" >< a id = "l00161" name = "l00161" ></ a >< span class = "lineno" > 161</ span > kFeatureSurfFreak=12, < span class = "comment" > //new 0.20.4</ span ></ div >
< div class = "line" >< a id = "l00162" name = "l00162" ></ a >< span class = "lineno" > 162</ span > kFeatureGfttDaisy=13, < span class = "comment" > //new 0.20.6</ span ></ div >
< div class = "line" >< a id = "l00163" name = "l00163" ></ a >< span class = "lineno" > 163</ span > kFeatureSurfDaisy=14, < span class = "comment" > //new 0.20.6</ span ></ div >
< div class = "line" >< a id = "l00164" name = "l00164" ></ a >< span class = "lineno" > 164</ span > kFeaturePyDetector=15, < span class = "comment" > //new 0.20.8</ span ></ div >
< div class = "line" >< a id = "l00165" name = "l00165" ></ a >< span class = "lineno" > 165</ span > kFeatureSuperPointRpautrat=16, < span class = "comment" > // new 0.23.3</ span ></ div >
< div class = "line" >< a id = "l00166" name = "l00166" ></ a >< span class = "lineno" > 166</ span > kFeatureEnd}; < span class = "comment" > // Sentinel: always keep last. Used to iterate through types.</ span ></ div >
</ div >
< div class = "line" >< a id = "l00167" name = "l00167" ></ a >< span class = "lineno" > 167</ span > </ div >
< div class = "foldopen" id = "foldopen00169" data-start = "{" data-end = "}" >
< div class = "line" >< a id = "l00169" name = "l00169" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Feature2D.html#a98050ef4da598e5b35bc32317bc58b84" > 169</ a ></ span > < span class = "keyword" > static</ span > std::string < a class = "code hl_function" href = "classrtabmap_1_1Feature2D.html#a98050ef4da598e5b35bc32317bc58b84" > typeName</ a > (< a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Type</ a > type)</ div >
< div class = "line" >< a id = "l00170" name = "l00170" ></ a >< span class = "lineno" > 170</ span > {</ div >
< div class = "line" >< a id = "l00171" name = "l00171" ></ a >< span class = "lineno" > 171</ span > < span class = "keywordflow" > switch</ span > (type){</ div >
< div class = "line" >< a id = "l00172" name = "l00172" ></ a >< span class = "lineno" > 172</ span > < span class = "keywordflow" > case</ span > kFeatureSurf:</ div >
< div class = "line" >< a id = "l00173" name = "l00173" ></ a >< span class = "lineno" > 173</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " SURF" </ span > ;</ div >
< div class = "line" >< a id = "l00174" name = "l00174" ></ a >< span class = "lineno" > 174</ span > < span class = "keywordflow" > case</ span > kFeatureSift:</ div >
< div class = "line" >< a id = "l00175" name = "l00175" ></ a >< span class = "lineno" > 175</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " SIFT" </ span > ;</ div >
< div class = "line" >< a id = "l00176" name = "l00176" ></ a >< span class = "lineno" > 176</ span > < span class = "keywordflow" > case</ span > kFeatureOrb:</ div >
< div class = "line" >< a id = "l00177" name = "l00177" ></ a >< span class = "lineno" > 177</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " ORB" </ span > ;</ div >
< div class = "line" >< a id = "l00178" name = "l00178" ></ a >< span class = "lineno" > 178</ span > < span class = "keywordflow" > case</ span > kFeatureFastFreak:</ div >
< div class = "line" >< a id = "l00179" name = "l00179" ></ a >< span class = "lineno" > 179</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " FAST+FREAK" </ span > ;</ div >
< div class = "line" >< a id = "l00180" name = "l00180" ></ a >< span class = "lineno" > 180</ span > < span class = "keywordflow" > case</ span > kFeatureFastBrief:</ div >
< div class = "line" >< a id = "l00181" name = "l00181" ></ a >< span class = "lineno" > 181</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " FAST+BRIEF" </ span > ;</ div >
< div class = "line" >< a id = "l00182" name = "l00182" ></ a >< span class = "lineno" > 182</ span > < span class = "keywordflow" > case</ span > kFeatureGfttFreak:</ div >
< div class = "line" >< a id = "l00183" name = "l00183" ></ a >< span class = "lineno" > 183</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " GFTT+Freak" </ span > ;</ div >
< div class = "line" >< a id = "l00184" name = "l00184" ></ a >< span class = "lineno" > 184</ span > < span class = "keywordflow" > case</ span > kFeatureGfttBrief:</ div >
< div class = "line" >< a id = "l00185" name = "l00185" ></ a >< span class = "lineno" > 185</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " GFTT+Brief" </ span > ;</ div >
< div class = "line" >< a id = "l00186" name = "l00186" ></ a >< span class = "lineno" > 186</ span > < span class = "keywordflow" > case</ span > kFeatureBrisk:</ div >
< div class = "line" >< a id = "l00187" name = "l00187" ></ a >< span class = "lineno" > 187</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " BRISK" </ span > ;</ div >
< div class = "line" >< a id = "l00188" name = "l00188" ></ a >< span class = "lineno" > 188</ span > < span class = "keywordflow" > case</ span > kFeatureGfttOrb:</ div >
< div class = "line" >< a id = "l00189" name = "l00189" ></ a >< span class = "lineno" > 189</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " GFTT+ORB" </ span > ;</ div >
< div class = "line" >< a id = "l00190" name = "l00190" ></ a >< span class = "lineno" > 190</ span > < span class = "keywordflow" > case</ span > kFeatureKaze:</ div >
< div class = "line" >< a id = "l00191" name = "l00191" ></ a >< span class = "lineno" > 191</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " KAZE" </ span > ;</ div >
< div class = "line" >< a id = "l00192" name = "l00192" ></ a >< span class = "lineno" > 192</ span > < span class = "keywordflow" > case</ span > kFeatureOrbOctree:</ div >
< div class = "line" >< a id = "l00193" name = "l00193" ></ a >< span class = "lineno" > 193</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " ORB-OCTREE" </ span > ;</ div >
< div class = "line" >< a id = "l00194" name = "l00194" ></ a >< span class = "lineno" > 194</ span > < span class = "keywordflow" > case</ span > kFeatureSuperPointTorch:</ div >
< div class = "line" >< a id = "l00195" name = "l00195" ></ a >< span class = "lineno" > 195</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " SUPERPOINT" </ span > ;</ div >
< div class = "line" >< a id = "l00196" name = "l00196" ></ a >< span class = "lineno" > 196</ span > < span class = "keywordflow" > case</ span > kFeatureSurfFreak:</ div >
< div class = "line" >< a id = "l00197" name = "l00197" ></ a >< span class = "lineno" > 197</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " SURF+Freak" </ span > ;</ div >
< div class = "line" >< a id = "l00198" name = "l00198" ></ a >< span class = "lineno" > 198</ span > < span class = "keywordflow" > case</ span > kFeatureGfttDaisy:</ div >
< div class = "line" >< a id = "l00199" name = "l00199" ></ a >< span class = "lineno" > 199</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " GFTT+Daisy" </ span > ;</ div >
< div class = "line" >< a id = "l00200" name = "l00200" ></ a >< span class = "lineno" > 200</ span > < span class = "keywordflow" > case</ span > kFeatureSurfDaisy:</ div >
< div class = "line" >< a id = "l00201" name = "l00201" ></ a >< span class = "lineno" > 201</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " SURF+Daisy" </ span > ;</ div >
< div class = "line" >< a id = "l00202" name = "l00202" ></ a >< span class = "lineno" > 202</ span > < span class = "keywordflow" > case</ span > kFeaturePyDetector:</ div >
< div class = "line" >< a id = "l00203" name = "l00203" ></ a >< span class = "lineno" > 203</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " PyDetector" </ span > ;</ div >
< div class = "line" >< a id = "l00204" name = "l00204" ></ a >< span class = "lineno" > 204</ span > < span class = "keywordflow" > case</ span > kFeatureSuperPointRpautrat:</ div >
< div class = "line" >< a id = "l00205" name = "l00205" ></ a >< span class = "lineno" > 205</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " SUPERPOINT-RPAUTRAT" </ span > ;</ div >
< div class = "line" >< a id = "l00206" name = "l00206" ></ a >< span class = "lineno" > 206</ span > < span class = "keywordflow" > default</ span > :</ div >
< div class = "line" >< a id = "l00207" name = "l00207" ></ a >< span class = "lineno" > 207</ span > < span class = "keywordflow" > return</ span > < span class = "stringliteral" > " Unknown" </ span > ;</ div >
< div class = "line" >< a id = "l00208" name = "l00208" ></ a >< span class = "lineno" > 208</ span > }</ div >
< div class = "line" >< a id = "l00209" name = "l00209" ></ a >< span class = "lineno" > 209</ span > }</ div >
</ div >
< div class = "line" >< a id = "l00210" name = "l00210" ></ a >< span class = "lineno" > 210</ span > </ div >
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< div class = "line" >< a id = "l00212" name = "l00212" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Feature2D.html#a58ac3dff96e882f0e4bbbf8a8ffc435d" > 212</ a ></ span > < span class = "keyword" > static</ span > < a class = "code hl_class" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a > * < a class = "code hl_function" href = "classrtabmap_1_1Feature2D.html#a58ac3dff96e882f0e4bbbf8a8ffc435d" > create</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
< div class = "line" >< a id = "l00214" name = "l00214" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Feature2D.html#ab9deec7c0e26722736aeeaeb5541ac3a" > 214</ a ></ span > < span class = "keyword" > static</ span > < a class = "code hl_class" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a > * < a class = "code hl_function" href = "classrtabmap_1_1Feature2D.html#ab9deec7c0e26722736aeeaeb5541ac3a" > create</ a > (< a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > type, < span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
2026-08-02 01:36:11 +00:00
< div class = "line" >< a id = "l00215" name = "l00215" ></ a >< span class = "lineno" > 215</ span > </ div >
< div class = "line" >< a id = "l00217" name = "l00217" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Feature2D.html#a6020550480c25d36f0b4255629e75ee2" > 217</ a ></ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1Feature2D.html#a6020550480c25d36f0b4255629e75ee2" > isAvailable</ a > (< a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > type);</ div >
< div class = "line" >< a id = "l00218" name = "l00218" ></ a >< span class = "lineno" > 218</ span > </ div >
< div class = "line" >< a id = "l00220" name = "l00220" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Feature2D.html#aadbb5a7611eb94ea6925115999bc0f4e" > 220</ a ></ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Feature2D.html#aadbb5a7611eb94ea6925115999bc0f4e" > filterKeypointsByDepth</ a > (</ div >
< div class = "line" >< a id = "l00221" name = "l00221" ></ a >< span class = "lineno" > 221</ span > std::vector< cv::KeyPoint> & keypoints,</ div >
< div class = "line" >< a id = "l00222" name = "l00222" ></ a >< span class = "lineno" > 222</ span > < span class = "keyword" > const</ span > cv::Mat & depth,</ div >
< div class = "line" >< a id = "l00223" name = "l00223" ></ a >< span class = "lineno" > 223</ span > < span class = "keywordtype" > float</ span > minDepth,</ div >
< div class = "line" >< a id = "l00224" name = "l00224" ></ a >< span class = "lineno" > 224</ span > < span class = "keywordtype" > float</ span > maxDepth);</ div >
< div class = "line" >< a id = "l00225" name = "l00225" ></ a >< span class = "lineno" > 225</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > void</ span > filterKeypointsByDepth(</ div >
< div class = "line" >< a id = "l00226" name = "l00226" ></ a >< span class = "lineno" > 226</ span > std::vector< cv::KeyPoint> & keypoints,</ div >
< div class = "line" >< a id = "l00227" name = "l00227" ></ a >< span class = "lineno" > 227</ span > cv::Mat & descriptors,</ div >
< div class = "line" >< a id = "l00228" name = "l00228" ></ a >< span class = "lineno" > 228</ span > < span class = "keyword" > const</ span > cv::Mat & depth,</ div >
< div class = "line" >< a id = "l00229" name = "l00229" ></ a >< span class = "lineno" > 229</ span > < span class = "keywordtype" > float</ span > minDepth,</ div >
< div class = "line" >< a id = "l00230" name = "l00230" ></ a >< span class = "lineno" > 230</ span > < span class = "keywordtype" > float</ span > maxDepth);</ div >
< div class = "line" >< a id = "l00231" name = "l00231" ></ a >< span class = "lineno" > 231</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > void</ span > filterKeypointsByDepth(</ div >
< div class = "line" >< a id = "l00232" name = "l00232" ></ a >< span class = "lineno" > 232</ span > std::vector< cv::KeyPoint> & keypoints,</ div >
< div class = "line" >< a id = "l00233" name = "l00233" ></ a >< span class = "lineno" > 233</ span > cv::Mat & descriptors,</ div >
< div class = "line" >< a id = "l00234" name = "l00234" ></ a >< span class = "lineno" > 234</ span > std::vector< cv::Point3f> & keypoints3D,</ div >
< div class = "line" >< a id = "l00235" name = "l00235" ></ a >< span class = "lineno" > 235</ span > < span class = "keywordtype" > float</ span > minDepth,</ div >
< div class = "line" >< a id = "l00236" name = "l00236" ></ a >< span class = "lineno" > 236</ span > < span class = "keywordtype" > float</ span > maxDepth);</ div >
< div class = "line" >< a id = "l00237" name = "l00237" ></ a >< span class = "lineno" > 237</ span > </ div >
< div class = "line" >< a id = "l00239" name = "l00239" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Feature2D.html#a32fa09026282be6a729483bfe57d31ec" > 239</ a ></ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Feature2D.html#a32fa09026282be6a729483bfe57d31ec" > filterKeypointsByDisparity</ a > (</ div >
< div class = "line" >< a id = "l00240" name = "l00240" ></ a >< span class = "lineno" > 240</ span > std::vector< cv::KeyPoint> & keypoints,</ div >
< div class = "line" >< a id = "l00241" name = "l00241" ></ a >< span class = "lineno" > 241</ span > < span class = "keyword" > const</ span > cv::Mat & disparity,</ div >
< div class = "line" >< a id = "l00242" name = "l00242" ></ a >< span class = "lineno" > 242</ span > < span class = "keywordtype" > float</ span > minDisparity);</ div >
< div class = "line" >< a id = "l00243" name = "l00243" ></ a >< span class = "lineno" > 243</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > void</ span > filterKeypointsByDisparity(</ div >
< div class = "line" >< a id = "l00244" name = "l00244" ></ a >< span class = "lineno" > 244</ span > std::vector< cv::KeyPoint> & keypoints,</ div >
< div class = "line" >< a id = "l00245" name = "l00245" ></ a >< span class = "lineno" > 245</ span > cv::Mat & descriptors,</ div >
< div class = "line" >< a id = "l00246" name = "l00246" ></ a >< span class = "lineno" > 246</ span > < span class = "keyword" > const</ span > cv::Mat & disparity,</ div >
< div class = "line" >< a id = "l00247" name = "l00247" ></ a >< span class = "lineno" > 247</ span > < span class = "keywordtype" > float</ span > minDisparity);</ div >
< div class = "line" >< a id = "l00248" name = "l00248" ></ a >< span class = "lineno" > 248</ span > </ div >
< div class = "line" >< a id = "l00250" name = "l00250" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Feature2D.html#aa5c0258ede589769bc50c6d6071d595c" > 250</ a ></ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Feature2D.html#aa5c0258ede589769bc50c6d6071d595c" > limitKeypoints</ a > (std::vector< cv::KeyPoint> & keypoints, < span class = "keywordtype" > int</ span > maxKeypoints, < span class = "keyword" > const</ span > cv::Size & imageSize = cv::Size(), < span class = "keywordtype" > bool</ span > ssc = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00251" name = "l00251" ></ a >< span class = "lineno" > 251</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > void</ span > limitKeypoints(std::vector< cv::KeyPoint> & keypoints, cv::Mat & descriptors, < span class = "keywordtype" > int</ span > maxKeypoints, < span class = "keyword" > const</ span > cv::Size & imageSize = cv::Size(), < span class = "keywordtype" > bool</ span > ssc = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00252" name = "l00252" ></ a >< span class = "lineno" > 252</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > void</ span > limitKeypoints(std::vector< cv::KeyPoint> & keypoints, std::vector< cv::Point3f> & keypoints3D, cv::Mat & descriptors, < span class = "keywordtype" > int</ span > maxKeypoints, < span class = "keyword" > const</ span > cv::Size & imageSize = cv::Size(), < span class = "keywordtype" > bool</ span > ssc = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00253" name = "l00253" ></ a >< span class = "lineno" > 253</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > void</ span > limitKeypoints(< span class = "keyword" > const</ span > std::vector< cv::KeyPoint> & keypoints, std::vector< bool> & inliers, < span class = "keywordtype" > int</ span > maxKeypoints, < span class = "keyword" > const</ span > cv::Size & imageSize = cv::Size(), < span class = "keywordtype" > bool</ span > ssc = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00254" name = "l00254" ></ a >< span class = "lineno" > 254</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > void</ span > limitKeypoints(< span class = "keyword" > const</ span > std::vector< cv::KeyPoint> & keypoints, std::vector< bool> & inliers, < span class = "keywordtype" > int</ span > maxKeypoints, < span class = "keyword" > const</ span > cv::Size & imageSize, < span class = "keywordtype" > int</ span > gridRows, < span class = "keywordtype" > int</ span > gridCols, < span class = "keywordtype" > bool</ span > ssc = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00255" name = "l00255" ></ a >< span class = "lineno" > 255</ span > </ div >
< div class = "line" >< a id = "l00257" name = "l00257" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Feature2D.html#a8bdfa57df68506fecb6342b9f5bc98e8" > 257</ a ></ span > < span class = "keyword" > static</ span > cv::Rect < a class = "code hl_function" href = "classrtabmap_1_1Feature2D.html#a8bdfa57df68506fecb6342b9f5bc98e8" > computeRoi</ a > (< span class = "keyword" > const</ span > cv::Mat & image, < span class = "keyword" > const</ span > std::string & roiRatios);</ div >
< div class = "line" >< a id = "l00258" name = "l00258" ></ a >< span class = "lineno" > 258</ span > < span class = "keyword" > static</ span > cv::Rect computeRoi(< span class = "keyword" > const</ span > cv::Mat & image, < span class = "keyword" > const</ span > std::vector< float> & roiRatios);</ div >
< div class = "line" >< a id = "l00259" name = "l00259" ></ a >< span class = "lineno" > 259</ span > </ div >
< div class = "line" >< a id = "l00260" name = "l00260" ></ a >< span class = "lineno" > 260</ span > < span class = "keywordtype" > int</ span > getMaxFeatures()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > maxFeatures_;}</ div >
< div class = "line" >< a id = "l00261" name = "l00261" ></ a >< span class = "lineno" > 261</ span > < span class = "keywordtype" > bool</ span > getSSC()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > SSC_;}</ div >
< div class = "line" >< a id = "l00262" name = "l00262" ></ a >< span class = "lineno" > 262</ span > < span class = "keywordtype" > float</ span > getMinDepth()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _minDepth;}</ div >
< div class = "line" >< a id = "l00263" name = "l00263" ></ a >< span class = "lineno" > 263</ span > < span class = "keywordtype" > float</ span > getMaxDepth()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _maxDepth;}</ div >
< div class = "line" >< a id = "l00264" name = "l00264" ></ a >< span class = "lineno" > 264</ span > < span class = "keywordtype" > int</ span > getGridRows()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > gridRows_;}</ div >
< div class = "line" >< a id = "l00265" name = "l00265" ></ a >< span class = "lineno" > 265</ span > < span class = "keywordtype" > int</ span > getGridCols()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > gridCols_;}</ div >
< div class = "line" >< a id = "l00266" name = "l00266" ></ a >< span class = "lineno" > 266</ span > </ div >
< div class = "line" >< a id = "l00267" name = "l00267" ></ a >< span class = "lineno" > 267</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00268" name = "l00268" ></ a >< span class = "lineno" > 268</ span > < span class = "keyword" > virtual</ span > ~Feature2D();</ div >
< div class = "line" >< a id = "l00269" name = "l00269" ></ a >< span class = "lineno" > 269</ span > </ div >
< div class = "line" >< a id = "l00271" name = "l00271" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Feature2D.html#a78d70d2150b42203ffd1c94d79661248" > 271</ a ></ span > std::vector< cv::KeyPoint> < a class = "code hl_function" href = "classrtabmap_1_1Feature2D.html#a78d70d2150b42203ffd1c94d79661248" > generateKeypoints</ a > (</ div >
< div class = "line" >< a id = "l00272" name = "l00272" ></ a >< span class = "lineno" > 272</ span > < span class = "keyword" > const</ span > cv::Mat & image,</ div >
< div class = "line" >< a id = "l00273" name = "l00273" ></ a >< span class = "lineno" > 273</ span > < span class = "keyword" > const</ span > cv::Mat & mask = cv::Mat());</ div >
< div class = "line" >< a id = "l00275" name = "l00275" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Feature2D.html#abaca942668ac3d2f16d3e78797ff0fb9" > 275</ a ></ span > cv::Mat < a class = "code hl_function" href = "classrtabmap_1_1Feature2D.html#abaca942668ac3d2f16d3e78797ff0fb9" > generateDescriptors</ a > (</ div >
< div class = "line" >< a id = "l00276" name = "l00276" ></ a >< span class = "lineno" > 276</ span > < span class = "keyword" > const</ span > cv::Mat & image,</ div >
< div class = "line" >< a id = "l00277" name = "l00277" ></ a >< span class = "lineno" > 277</ span > std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00279" name = "l00279" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Feature2D.html#ae01a548fe993a7aa309cce96645693ce" > 279</ a ></ span > std::vector< cv::Point3f> < a class = "code hl_function" href = "classrtabmap_1_1Feature2D.html#ae01a548fe993a7aa309cce96645693ce" > generateKeypoints3D</ a > (</ div >
< div class = "line" >< a id = "l00280" name = "l00280" ></ a >< span class = "lineno" > 280</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > & data,</ div >
< div class = "line" >< a id = "l00281" name = "l00281" ></ a >< span class = "lineno" > 281</ span > < span class = "keyword" > const</ span > std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00282" name = "l00282" ></ a >< span class = "lineno" > 282</ span > </ div >
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< div class = "line" >< a id = "l00283" name = "l00283" ></ a >< span class = "lineno" > 283</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters);</ div >
< div class = "line" >< a id = "l00284" name = "l00284" ></ a >< span class = "lineno" > 284</ span > < span class = "keyword" > virtual</ span > < span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & getParameters()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > parameters_;}</ div >
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< div class = "line" >< a id = "l00285" name = "l00285" ></ a >< span class = "lineno" > 285</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00286" name = "l00286" ></ a >< span class = "lineno" > 286</ span > </ div >
< div class = "line" >< a id = "l00294" name = "l00294" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Feature2D.html#a8d330b2b7db059f59c257cde6c9b6a99" > 294</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1Feature2D.html#a8d330b2b7db059f59c257cde6c9b6a99" > isGpuAvailable</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > < span class = "keyword" > false</ span > ;}</ div >
< div class = "line" >< a id = "l00295" name = "l00295" ></ a >< span class = "lineno" > 295</ span > </ div >
< div class = "line" >< a id = "l00296" name = "l00296" ></ a >< span class = "lineno" > 296</ span >< span class = "keyword" > protected</ span > :</ div >
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< div class = "line" >< a id = "l00297" name = "l00297" ></ a >< span class = "lineno" > 297</ span > < a class = "code hl_class" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00298" name = "l00298" ></ a >< span class = "lineno" > 298</ span > </ div >
< div class = "line" >< a id = "l00299" name = "l00299" ></ a >< span class = "lineno" > 299</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00300" name = "l00300" ></ a >< span class = "lineno" > 300</ span > < span class = "keyword" > virtual</ span > std::vector< cv::KeyPoint> generateKeypointsImpl(< span class = "keyword" > const</ span > cv::Mat & image, < span class = "keyword" > const</ span > cv::Rect & roi, < span class = "keyword" > const</ span > cv::Mat & mask = cv::Mat()) = 0;</ div >
< div class = "line" >< a id = "l00301" name = "l00301" ></ a >< span class = "lineno" > 301</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & image, std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00302" name = "l00302" ></ a >< span class = "lineno" > 302</ span > </ div >
< div class = "line" >< a id = "l00303" name = "l00303" ></ a >< span class = "lineno" > 303</ span >< span class = "keyword" > private</ span > :</ div >
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< div class = "line" >< a id = "l00304" name = "l00304" ></ a >< span class = "lineno" > 304</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > parameters_;</ div >
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< div class = "line" >< a id = "l00305" name = "l00305" ></ a >< span class = "lineno" > 305</ span > < span class = "keywordtype" > int</ span > maxFeatures_;</ div >
< div class = "line" >< a id = "l00306" name = "l00306" ></ a >< span class = "lineno" > 306</ span > < span class = "keywordtype" > bool</ span > SSC_;</ div >
< div class = "line" >< a id = "l00307" name = "l00307" ></ a >< span class = "lineno" > 307</ span > < span class = "keywordtype" > float</ span > _maxDepth; < span class = "comment" > // 0=inf</ span ></ div >
< div class = "line" >< a id = "l00308" name = "l00308" ></ a >< span class = "lineno" > 308</ span > < span class = "keywordtype" > float</ span > _minDepth;</ div >
< div class = "line" >< a id = "l00309" name = "l00309" ></ a >< span class = "lineno" > 309</ span > std::vector< float> _roiRatios; < span class = "comment" > // size 4</ span ></ div >
< div class = "line" >< a id = "l00310" name = "l00310" ></ a >< span class = "lineno" > 310</ span > < span class = "keywordtype" > int</ span > _subPixWinSize;</ div >
< div class = "line" >< a id = "l00311" name = "l00311" ></ a >< span class = "lineno" > 311</ span > < span class = "keywordtype" > int</ span > _subPixIterations;</ div >
< div class = "line" >< a id = "l00312" name = "l00312" ></ a >< span class = "lineno" > 312</ span > < span class = "keywordtype" > double</ span > _subPixEps;</ div >
< div class = "line" >< a id = "l00313" name = "l00313" ></ a >< span class = "lineno" > 313</ span > < span class = "keywordtype" > int</ span > gridRows_;</ div >
< div class = "line" >< a id = "l00314" name = "l00314" ></ a >< span class = "lineno" > 314</ span > < span class = "keywordtype" > int</ span > gridCols_;</ div >
< div class = "line" >< a id = "l00315" name = "l00315" ></ a >< span class = "lineno" > 315</ span > < span class = "comment" > // Stereo stuff</ span ></ div >
< div class = "line" >< a id = "l00316" name = "l00316" ></ a >< span class = "lineno" > 316</ span > < a class = "code hl_class" href = "classrtabmap_1_1Stereo.html" > Stereo</ a > * _stereo;</ div >
< div class = "line" >< a id = "l00317" name = "l00317" ></ a >< span class = "lineno" > 317</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00318" name = "l00318" ></ a >< span class = "lineno" > 318</ span > </ div >
< div class = "foldopen" id = "foldopen00320" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00320" name = "l00320" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SURF.html" > 320</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1SURF.html" > SURF</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a ></ div >
< div class = "line" >< a id = "l00321" name = "l00321" ></ a >< span class = "lineno" > 321</ span > {</ div >
< div class = "line" >< a id = "l00322" name = "l00322" ></ a >< span class = "lineno" > 322</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00323" name = "l00323" ></ a >< span class = "lineno" > 323</ span > < a class = "code hl_class" href = "classrtabmap_1_1SURF.html" > SURF</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00324" name = "l00324" ></ a >< span class = "lineno" > 324</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1SURF.html" > ~SURF</ a > ();</ div >
< div class = "line" >< a id = "l00325" name = "l00325" ></ a >< span class = "lineno" > 325</ span > </ div >
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< div class = "line" >< a id = "l00326" name = "l00326" ></ a >< span class = "lineno" > 326</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00327" name = "l00327" ></ a >< span class = "lineno" > 327</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType()< span class = "keyword" > const override </ span > {< span class = "keywordflow" > return</ span > kFeatureSurf;}</ div >
< div class = "line" >< a id = "l00328" name = "l00328" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SURF.html#a1150923dbf7e1bfd066dba0c3b22db57" > 328</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1SURF.html#a1150923dbf7e1bfd066dba0c3b22db57" > isGpuAvailable</ a > () < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00329" name = "l00329" ></ a >< span class = "lineno" > 329</ span > </ div >
< div class = "line" >< a id = "l00330" name = "l00330" ></ a >< span class = "lineno" > 330</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00331" name = "l00331" ></ a >< span class = "lineno" > 331</ span > < span class = "keyword" > virtual</ span > std::vector< cv::KeyPoint> generateKeypointsImpl(< span class = "keyword" > const</ span > cv::Mat & image, < span class = "keyword" > const</ span > cv::Rect & roi, < span class = "keyword" > const</ span > cv::Mat & mask = cv::Mat()) < span class = "keyword" > override</ span > ;</ div >
< div class = "line" >< a id = "l00332" name = "l00332" ></ a >< span class = "lineno" > 332</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & image, std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00333" name = "l00333" ></ a >< span class = "lineno" > 333</ span > </ div >
< div class = "line" >< a id = "l00334" name = "l00334" ></ a >< span class = "lineno" > 334</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00335" name = "l00335" ></ a >< span class = "lineno" > 335</ span > < span class = "keywordtype" > double</ span > hessianThreshold_;</ div >
< div class = "line" >< a id = "l00336" name = "l00336" ></ a >< span class = "lineno" > 336</ span > < span class = "keywordtype" > int</ span > nOctaves_;</ div >
< div class = "line" >< a id = "l00337" name = "l00337" ></ a >< span class = "lineno" > 337</ span > < span class = "keywordtype" > int</ span > nOctaveLayers_;</ div >
< div class = "line" >< a id = "l00338" name = "l00338" ></ a >< span class = "lineno" > 338</ span > < span class = "keywordtype" > bool</ span > extended_;</ div >
< div class = "line" >< a id = "l00339" name = "l00339" ></ a >< span class = "lineno" > 339</ span > < span class = "keywordtype" > bool</ span > upright_;</ div >
< div class = "line" >< a id = "l00340" name = "l00340" ></ a >< span class = "lineno" > 340</ span > < span class = "keywordtype" > float</ span > gpuKeypointsRatio_;</ div >
< div class = "line" >< a id = "l00341" name = "l00341" ></ a >< span class = "lineno" > 341</ span > < span class = "keywordtype" > bool</ span > gpuVersion_;</ div >
< div class = "line" >< a id = "l00342" name = "l00342" ></ a >< span class = "lineno" > 342</ span > </ div >
< div class = "line" >< a id = "l00343" name = "l00343" ></ a >< span class = "lineno" > 343</ span > cv::Ptr< CV_SURF> _surf;</ div >
< div class = "line" >< a id = "l00344" name = "l00344" ></ a >< span class = "lineno" > 344</ span > cv::Ptr< CV_SURF_GPU> _gpuSurf;</ div >
< div class = "line" >< a id = "l00345" name = "l00345" ></ a >< span class = "lineno" > 345</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00346" name = "l00346" ></ a >< span class = "lineno" > 346</ span > </ div >
< div class = "foldopen" id = "foldopen00348" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00348" name = "l00348" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SIFT.html" > 348</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1SIFT.html" > SIFT</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a ></ div >
< div class = "line" >< a id = "l00349" name = "l00349" ></ a >< span class = "lineno" > 349</ span > {</ div >
< div class = "line" >< a id = "l00350" name = "l00350" ></ a >< span class = "lineno" > 350</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00351" name = "l00351" ></ a >< span class = "lineno" > 351</ span > < a class = "code hl_class" href = "classrtabmap_1_1SIFT.html" > SIFT</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00352" name = "l00352" ></ a >< span class = "lineno" > 352</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1SIFT.html" > ~SIFT</ a > ();</ div >
< div class = "line" >< a id = "l00353" name = "l00353" ></ a >< span class = "lineno" > 353</ span > </ div >
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< div class = "line" >< a id = "l00354" name = "l00354" ></ a >< span class = "lineno" > 354</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00355" name = "l00355" ></ a >< span class = "lineno" > 355</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType()< span class = "keyword" > const override </ span > {< span class = "keywordflow" > return</ span > kFeatureSift;}</ div >
< div class = "line" >< a id = "l00356" name = "l00356" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SIFT.html#ad089f68ffc9ef1b42b5a9c2d5a5ecd81" > 356</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1SIFT.html#ad089f68ffc9ef1b42b5a9c2d5a5ecd81" > isGpuAvailable</ a > () < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00357" name = "l00357" ></ a >< span class = "lineno" > 357</ span > </ div >
< div class = "line" >< a id = "l00358" name = "l00358" ></ a >< span class = "lineno" > 358</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00359" name = "l00359" ></ a >< span class = "lineno" > 359</ span > < span class = "keyword" > virtual</ span > std::vector< cv::KeyPoint> generateKeypointsImpl(< span class = "keyword" > const</ span > cv::Mat & image, < span class = "keyword" > const</ span > cv::Rect & roi, < span class = "keyword" > const</ span > cv::Mat & mask = cv::Mat()) < span class = "keyword" > override</ span > ;</ div >
< div class = "line" >< a id = "l00360" name = "l00360" ></ a >< span class = "lineno" > 360</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & image, std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00361" name = "l00361" ></ a >< span class = "lineno" > 361</ span > </ div >
< div class = "line" >< a id = "l00362" name = "l00362" ></ a >< span class = "lineno" > 362</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00363" name = "l00363" ></ a >< span class = "lineno" > 363</ span > < span class = "keywordtype" > int</ span > nOctaveLayers_;</ div >
< div class = "line" >< a id = "l00364" name = "l00364" ></ a >< span class = "lineno" > 364</ span > < span class = "keywordtype" > double</ span > contrastThreshold_;</ div >
< div class = "line" >< a id = "l00365" name = "l00365" ></ a >< span class = "lineno" > 365</ span > < span class = "keywordtype" > double</ span > edgeThreshold_;</ div >
< div class = "line" >< a id = "l00366" name = "l00366" ></ a >< span class = "lineno" > 366</ span > < span class = "keywordtype" > double</ span > sigma_;</ div >
< div class = "line" >< a id = "l00367" name = "l00367" ></ a >< span class = "lineno" > 367</ span > < span class = "keywordtype" > bool</ span > preciseUpscale_;</ div >
< div class = "line" >< a id = "l00368" name = "l00368" ></ a >< span class = "lineno" > 368</ span > < span class = "keywordtype" > bool</ span > rootSIFT_;</ div >
< div class = "line" >< a id = "l00369" name = "l00369" ></ a >< span class = "lineno" > 369</ span > < span class = "keywordtype" > bool</ span > gpu_;</ div >
< div class = "line" >< a id = "l00370" name = "l00370" ></ a >< span class = "lineno" > 370</ span > < span class = "keywordtype" > float</ span > gaussianThreshold_;</ div >
< div class = "line" >< a id = "l00371" name = "l00371" ></ a >< span class = "lineno" > 371</ span > < span class = "keywordtype" > float</ span > maxGaussianThreshold_;</ div >
< div class = "line" >< a id = "l00372" name = "l00372" ></ a >< span class = "lineno" > 372</ span > < span class = "keywordtype" > bool</ span > upscale_;</ div >
< div class = "line" >< a id = "l00373" name = "l00373" ></ a >< span class = "lineno" > 373</ span > </ div >
< div class = "line" >< a id = "l00374" name = "l00374" ></ a >< span class = "lineno" > 374</ span > cv::Ptr< CV_SIFT> sift_;</ div >
< div class = "line" >< a id = "l00375" name = "l00375" ></ a >< span class = "lineno" > 375</ span > SiftData * cudaSiftData_;</ div >
< div class = "line" >< a id = "l00376" name = "l00376" ></ a >< span class = "lineno" > 376</ span > < span class = "keywordtype" > float</ span > * cudaSiftMemory_;</ div >
< div class = "line" >< a id = "l00377" name = "l00377" ></ a >< span class = "lineno" > 377</ span > cv::Size cudaSiftMemorySize_;</ div >
< div class = "line" >< a id = "l00378" name = "l00378" ></ a >< span class = "lineno" > 378</ span > cv::Mat cudaSiftDescriptors_;</ div >
< div class = "line" >< a id = "l00379" name = "l00379" ></ a >< span class = "lineno" > 379</ span > < span class = "keywordtype" > bool</ span > cudaSiftUpscaling_;</ div >
< div class = "line" >< a id = "l00380" name = "l00380" ></ a >< span class = "lineno" > 380</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00381" name = "l00381" ></ a >< span class = "lineno" > 381</ span > </ div >
< div class = "foldopen" id = "foldopen00383" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00383" name = "l00383" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1ORB.html" > 383</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1ORB.html" > ORB</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a ></ div >
< div class = "line" >< a id = "l00384" name = "l00384" ></ a >< span class = "lineno" > 384</ span > {</ div >
< div class = "line" >< a id = "l00385" name = "l00385" ></ a >< span class = "lineno" > 385</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00386" name = "l00386" ></ a >< span class = "lineno" > 386</ span > < a class = "code hl_class" href = "classrtabmap_1_1ORB.html" > ORB</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00387" name = "l00387" ></ a >< span class = "lineno" > 387</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1ORB.html" > ~ORB</ a > ();</ div >
< div class = "line" >< a id = "l00388" name = "l00388" ></ a >< span class = "lineno" > 388</ span > </ div >
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< div class = "line" >< a id = "l00389" name = "l00389" ></ a >< span class = "lineno" > 389</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00390" name = "l00390" ></ a >< span class = "lineno" > 390</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType()< span class = "keyword" > const override </ span > {< span class = "keywordflow" > return</ span > kFeatureOrb;}</ div >
< div class = "line" >< a id = "l00391" name = "l00391" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1ORB.html#a7b5e3e7cc41dd04e517c5332f04d3a0a" > 391</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1ORB.html#a7b5e3e7cc41dd04e517c5332f04d3a0a" > isGpuAvailable</ a > () < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00392" name = "l00392" ></ a >< span class = "lineno" > 392</ span > </ div >
< div class = "line" >< a id = "l00393" name = "l00393" ></ a >< span class = "lineno" > 393</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00394" name = "l00394" ></ a >< span class = "lineno" > 394</ span > < span class = "keyword" > virtual</ span > std::vector< cv::KeyPoint> generateKeypointsImpl(< span class = "keyword" > const</ span > cv::Mat & image, < span class = "keyword" > const</ span > cv::Rect & roi, < span class = "keyword" > const</ span > cv::Mat & mask = cv::Mat()) < span class = "keyword" > override</ span > ;</ div >
< div class = "line" >< a id = "l00395" name = "l00395" ></ a >< span class = "lineno" > 395</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & image, std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00396" name = "l00396" ></ a >< span class = "lineno" > 396</ span > </ div >
< div class = "line" >< a id = "l00397" name = "l00397" ></ a >< span class = "lineno" > 397</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00398" name = "l00398" ></ a >< span class = "lineno" > 398</ span > < span class = "keywordtype" > float</ span > scaleFactor_;</ div >
< div class = "line" >< a id = "l00399" name = "l00399" ></ a >< span class = "lineno" > 399</ span > < span class = "keywordtype" > int</ span > nLevels_;</ div >
< div class = "line" >< a id = "l00400" name = "l00400" ></ a >< span class = "lineno" > 400</ span > < span class = "keywordtype" > int</ span > edgeThreshold_;</ div >
< div class = "line" >< a id = "l00401" name = "l00401" ></ a >< span class = "lineno" > 401</ span > < span class = "keywordtype" > int</ span > firstLevel_;</ div >
< div class = "line" >< a id = "l00402" name = "l00402" ></ a >< span class = "lineno" > 402</ span > < span class = "keywordtype" > int</ span > WTA_K_;</ div >
< div class = "line" >< a id = "l00403" name = "l00403" ></ a >< span class = "lineno" > 403</ span > < span class = "keywordtype" > int</ span > scoreType_;</ div >
< div class = "line" >< a id = "l00404" name = "l00404" ></ a >< span class = "lineno" > 404</ span > < span class = "keywordtype" > int</ span > patchSize_;</ div >
< div class = "line" >< a id = "l00405" name = "l00405" ></ a >< span class = "lineno" > 405</ span > < span class = "keywordtype" > bool</ span > gpu_;</ div >
< div class = "line" >< a id = "l00406" name = "l00406" ></ a >< span class = "lineno" > 406</ span > </ div >
< div class = "line" >< a id = "l00407" name = "l00407" ></ a >< span class = "lineno" > 407</ span > < span class = "keywordtype" > int</ span > fastThreshold_;</ div >
< div class = "line" >< a id = "l00408" name = "l00408" ></ a >< span class = "lineno" > 408</ span > < span class = "keywordtype" > bool</ span > nonmaxSuppresion_;</ div >
< div class = "line" >< a id = "l00409" name = "l00409" ></ a >< span class = "lineno" > 409</ span > </ div >
< div class = "line" >< a id = "l00410" name = "l00410" ></ a >< span class = "lineno" > 410</ span > cv::Ptr< CV_ORB> _orb;</ div >
< div class = "line" >< a id = "l00411" name = "l00411" ></ a >< span class = "lineno" > 411</ span > cv::Ptr< CV_ORB_GPU> _gpuOrb;</ div >
< div class = "line" >< a id = "l00412" name = "l00412" ></ a >< span class = "lineno" > 412</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00413" name = "l00413" ></ a >< span class = "lineno" > 413</ span > </ div >
< div class = "foldopen" id = "foldopen00415" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00415" name = "l00415" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1FAST.html" > 415</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1FAST.html" > FAST</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a ></ div >
< div class = "line" >< a id = "l00416" name = "l00416" ></ a >< span class = "lineno" > 416</ span > {</ div >
< div class = "line" >< a id = "l00417" name = "l00417" ></ a >< span class = "lineno" > 417</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00418" name = "l00418" ></ a >< span class = "lineno" > 418</ span > < a class = "code hl_class" href = "classrtabmap_1_1FAST.html" > FAST</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00419" name = "l00419" ></ a >< span class = "lineno" > 419</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1FAST.html" > ~FAST</ a > ();</ div >
< div class = "line" >< a id = "l00420" name = "l00420" ></ a >< span class = "lineno" > 420</ span > </ div >
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< div class = "line" >< a id = "l00421" name = "l00421" ></ a >< span class = "lineno" > 421</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00422" name = "l00422" ></ a >< span class = "lineno" > 422</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType()< span class = "keyword" > const override </ span > {< span class = "keywordflow" > return</ span > kFeatureUndef;}</ div >
< div class = "line" >< a id = "l00423" name = "l00423" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1FAST.html#a1418ac4de2bdf5815df888a4d1f50b2e" > 423</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1FAST.html#a1418ac4de2bdf5815df888a4d1f50b2e" > isGpuAvailable</ a > () < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00424" name = "l00424" ></ a >< span class = "lineno" > 424</ span > </ div >
< div class = "line" >< a id = "l00425" name = "l00425" ></ a >< span class = "lineno" > 425</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00426" name = "l00426" ></ a >< span class = "lineno" > 426</ span > < span class = "keyword" > virtual</ span > std::vector< cv::KeyPoint> generateKeypointsImpl(< span class = "keyword" > const</ span > cv::Mat & image, < span class = "keyword" > const</ span > cv::Rect & roi, < span class = "keyword" > const</ span > cv::Mat & mask = cv::Mat()) < span class = "keyword" > override</ span > ;</ div >
< div class = "line" >< a id = "l00427" name = "l00427" ></ a >< span class = "lineno" > 427</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & , std::vector< cv::KeyPoint> & )< span class = "keyword" > const override </ span > {< span class = "keywordflow" > return</ span > cv::Mat();}</ div >
< div class = "line" >< a id = "l00428" name = "l00428" ></ a >< span class = "lineno" > 428</ span > </ div >
< div class = "line" >< a id = "l00429" name = "l00429" ></ a >< span class = "lineno" > 429</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00430" name = "l00430" ></ a >< span class = "lineno" > 430</ span > < span class = "keywordtype" > int</ span > threshold_;</ div >
< div class = "line" >< a id = "l00431" name = "l00431" ></ a >< span class = "lineno" > 431</ span > < span class = "keywordtype" > bool</ span > nonmaxSuppression_;</ div >
< div class = "line" >< a id = "l00432" name = "l00432" ></ a >< span class = "lineno" > 432</ span > < span class = "keywordtype" > bool</ span > gpu_;</ div >
< div class = "line" >< a id = "l00433" name = "l00433" ></ a >< span class = "lineno" > 433</ span > < span class = "keywordtype" > double</ span > gpuKeypointsRatio_;</ div >
< div class = "line" >< a id = "l00434" name = "l00434" ></ a >< span class = "lineno" > 434</ span > < span class = "keywordtype" > int</ span > minThreshold_;</ div >
< div class = "line" >< a id = "l00435" name = "l00435" ></ a >< span class = "lineno" > 435</ span > < span class = "keywordtype" > int</ span > maxThreshold_;</ div >
< div class = "line" >< a id = "l00436" name = "l00436" ></ a >< span class = "lineno" > 436</ span > < span class = "keywordtype" > int</ span > gridRows_;</ div >
< div class = "line" >< a id = "l00437" name = "l00437" ></ a >< span class = "lineno" > 437</ span > < span class = "keywordtype" > int</ span > gridCols_;</ div >
< div class = "line" >< a id = "l00438" name = "l00438" ></ a >< span class = "lineno" > 438</ span > < span class = "keywordtype" > int</ span > fastCV_;</ div >
< div class = "line" >< a id = "l00439" name = "l00439" ></ a >< span class = "lineno" > 439</ span > </ div >
< div class = "line" >< a id = "l00440" name = "l00440" ></ a >< span class = "lineno" > 440</ span > < span class = "keywordtype" > bool</ span > fastCVinit_;</ div >
< div class = "line" >< a id = "l00441" name = "l00441" ></ a >< span class = "lineno" > 441</ span > < span class = "keywordtype" > int</ span > fastCVMaxFeatures_;</ div >
< div class = "line" >< a id = "l00442" name = "l00442" ></ a >< span class = "lineno" > 442</ span > < span class = "keywordtype" > int</ span > fastCVLastImageHeight_;</ div >
< div class = "line" >< a id = "l00443" name = "l00443" ></ a >< span class = "lineno" > 443</ span > uint32_t* fastCVCorners_= NULL;</ div >
< div class = "line" >< a id = "l00444" name = "l00444" ></ a >< span class = "lineno" > 444</ span > uint32_t* fastCVCornerScores_ = NULL;</ div >
< div class = "line" >< a id = "l00445" name = "l00445" ></ a >< span class = "lineno" > 445</ span > < span class = "keywordtype" > void</ span > * fastCVTempBuf_ = NULL;</ div >
< div class = "line" >< a id = "l00446" name = "l00446" ></ a >< span class = "lineno" > 446</ span > </ div >
< div class = "line" >< a id = "l00447" name = "l00447" ></ a >< span class = "lineno" > 447</ span > cv::Ptr< cv::FeatureDetector> _fast;</ div >
< div class = "line" >< a id = "l00448" name = "l00448" ></ a >< span class = "lineno" > 448</ span > cv::Ptr< CV_FAST_GPU> _gpuFast;</ div >
< div class = "line" >< a id = "l00449" name = "l00449" ></ a >< span class = "lineno" > 449</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00450" name = "l00450" ></ a >< span class = "lineno" > 450</ span > </ div >
< div class = "foldopen" id = "foldopen00452" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00452" name = "l00452" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1FAST__BRIEF.html" > 452</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1FAST__BRIEF.html" > FAST_BRIEF</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1FAST.html" > FAST</ a ></ div >
< div class = "line" >< a id = "l00453" name = "l00453" ></ a >< span class = "lineno" > 453</ span > {</ div >
< div class = "line" >< a id = "l00454" name = "l00454" ></ a >< span class = "lineno" > 454</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00455" name = "l00455" ></ a >< span class = "lineno" > 455</ span > < a class = "code hl_class" href = "classrtabmap_1_1FAST__BRIEF.html" > FAST_BRIEF</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00456" name = "l00456" ></ a >< span class = "lineno" > 456</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1FAST__BRIEF.html" > ~FAST_BRIEF</ a > ();</ div >
< div class = "line" >< a id = "l00457" name = "l00457" ></ a >< span class = "lineno" > 457</ span > </ div >
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< div class = "line" >< a id = "l00458" name = "l00458" ></ a >< span class = "lineno" > 458</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00459" name = "l00459" ></ a >< span class = "lineno" > 459</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType()< span class = "keyword" > const override </ span > {< span class = "keywordflow" > return</ span > kFeatureFastBrief;}</ div >
< div class = "line" >< a id = "l00460" name = "l00460" ></ a >< span class = "lineno" > 460</ span > </ div >
< div class = "line" >< a id = "l00461" name = "l00461" ></ a >< span class = "lineno" > 461</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00462" name = "l00462" ></ a >< span class = "lineno" > 462</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & image, std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00463" name = "l00463" ></ a >< span class = "lineno" > 463</ span > </ div >
< div class = "line" >< a id = "l00464" name = "l00464" ></ a >< span class = "lineno" > 464</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00465" name = "l00465" ></ a >< span class = "lineno" > 465</ span > < span class = "keywordtype" > int</ span > bytes_;</ div >
< div class = "line" >< a id = "l00466" name = "l00466" ></ a >< span class = "lineno" > 466</ span > </ div >
< div class = "line" >< a id = "l00467" name = "l00467" ></ a >< span class = "lineno" > 467</ span > cv::Ptr< CV_BRIEF> _brief;</ div >
< div class = "line" >< a id = "l00468" name = "l00468" ></ a >< span class = "lineno" > 468</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00469" name = "l00469" ></ a >< span class = "lineno" > 469</ span > </ div >
< div class = "foldopen" id = "foldopen00471" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00471" name = "l00471" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1FAST__FREAK.html" > 471</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1FAST__FREAK.html" > FAST_FREAK</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1FAST.html" > FAST</ a ></ div >
< div class = "line" >< a id = "l00472" name = "l00472" ></ a >< span class = "lineno" > 472</ span > {</ div >
< div class = "line" >< a id = "l00473" name = "l00473" ></ a >< span class = "lineno" > 473</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00474" name = "l00474" ></ a >< span class = "lineno" > 474</ span > < a class = "code hl_class" href = "classrtabmap_1_1FAST__FREAK.html" > FAST_FREAK</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00475" name = "l00475" ></ a >< span class = "lineno" > 475</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1FAST__FREAK.html" > ~FAST_FREAK</ a > ();</ div >
< div class = "line" >< a id = "l00476" name = "l00476" ></ a >< span class = "lineno" > 476</ span > </ div >
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< div class = "line" >< a id = "l00477" name = "l00477" ></ a >< span class = "lineno" > 477</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00478" name = "l00478" ></ a >< span class = "lineno" > 478</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType()< span class = "keyword" > const override </ span > {< span class = "keywordflow" > return</ span > kFeatureFastFreak;}</ div >
< div class = "line" >< a id = "l00479" name = "l00479" ></ a >< span class = "lineno" > 479</ span > </ div >
< div class = "line" >< a id = "l00480" name = "l00480" ></ a >< span class = "lineno" > 480</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00481" name = "l00481" ></ a >< span class = "lineno" > 481</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & image, std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00482" name = "l00482" ></ a >< span class = "lineno" > 482</ span > </ div >
< div class = "line" >< a id = "l00483" name = "l00483" ></ a >< span class = "lineno" > 483</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00484" name = "l00484" ></ a >< span class = "lineno" > 484</ span > < span class = "keywordtype" > bool</ span > orientationNormalized_;</ div >
< div class = "line" >< a id = "l00485" name = "l00485" ></ a >< span class = "lineno" > 485</ span > < span class = "keywordtype" > bool</ span > scaleNormalized_;</ div >
< div class = "line" >< a id = "l00486" name = "l00486" ></ a >< span class = "lineno" > 486</ span > < span class = "keywordtype" > float</ span > patternScale_;</ div >
< div class = "line" >< a id = "l00487" name = "l00487" ></ a >< span class = "lineno" > 487</ span > < span class = "keywordtype" > int</ span > nOctaves_;</ div >
< div class = "line" >< a id = "l00488" name = "l00488" ></ a >< span class = "lineno" > 488</ span > </ div >
< div class = "line" >< a id = "l00489" name = "l00489" ></ a >< span class = "lineno" > 489</ span > cv::Ptr< CV_FREAK> _freak;</ div >
< div class = "line" >< a id = "l00490" name = "l00490" ></ a >< span class = "lineno" > 490</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00491" name = "l00491" ></ a >< span class = "lineno" > 491</ span > </ div >
< div class = "foldopen" id = "foldopen00493" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00493" name = "l00493" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1GFTT.html" > 493</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1GFTT.html" > GFTT</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a ></ div >
< div class = "line" >< a id = "l00494" name = "l00494" ></ a >< span class = "lineno" > 494</ span > {</ div >
< div class = "line" >< a id = "l00495" name = "l00495" ></ a >< span class = "lineno" > 495</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00496" name = "l00496" ></ a >< span class = "lineno" > 496</ span > < a class = "code hl_class" href = "classrtabmap_1_1GFTT.html" > GFTT</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00497" name = "l00497" ></ a >< span class = "lineno" > 497</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1GFTT.html" > ~GFTT</ a > ();</ div >
< div class = "line" >< a id = "l00498" name = "l00498" ></ a >< span class = "lineno" > 498</ span > </ div >
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< div class = "line" >< a id = "l00499" name = "l00499" ></ a >< span class = "lineno" > 499</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00500" name = "l00500" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1GFTT.html#a05151f04cf624576783837dc48ddf744" > 500</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1GFTT.html#a05151f04cf624576783837dc48ddf744" > isGpuAvailable</ a > () < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00501" name = "l00501" ></ a >< span class = "lineno" > 501</ span > </ div >
< div class = "line" >< a id = "l00502" name = "l00502" ></ a >< span class = "lineno" > 502</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00503" name = "l00503" ></ a >< span class = "lineno" > 503</ span > < span class = "keyword" > virtual</ span > std::vector< cv::KeyPoint> generateKeypointsImpl(< span class = "keyword" > const</ span > cv::Mat & image, < span class = "keyword" > const</ span > cv::Rect & roi, < span class = "keyword" > const</ span > cv::Mat & mask = cv::Mat()) < span class = "keyword" > override</ span > ;</ div >
< div class = "line" >< a id = "l00504" name = "l00504" ></ a >< span class = "lineno" > 504</ span > </ div >
< div class = "line" >< a id = "l00505" name = "l00505" ></ a >< span class = "lineno" > 505</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00506" name = "l00506" ></ a >< span class = "lineno" > 506</ span > < span class = "keywordtype" > double</ span > _qualityLevel;</ div >
< div class = "line" >< a id = "l00507" name = "l00507" ></ a >< span class = "lineno" > 507</ span > < span class = "keywordtype" > double</ span > _minDistance;</ div >
< div class = "line" >< a id = "l00508" name = "l00508" ></ a >< span class = "lineno" > 508</ span > < span class = "keywordtype" > int</ span > _blockSize;</ div >
< div class = "line" >< a id = "l00509" name = "l00509" ></ a >< span class = "lineno" > 509</ span > < span class = "keywordtype" > bool</ span > _useHarrisDetector;</ div >
< div class = "line" >< a id = "l00510" name = "l00510" ></ a >< span class = "lineno" > 510</ span > < span class = "keywordtype" > double</ span > _k;</ div >
< div class = "line" >< a id = "l00511" name = "l00511" ></ a >< span class = "lineno" > 511</ span > < span class = "keywordtype" > bool</ span > _gpu;</ div >
< div class = "line" >< a id = "l00512" name = "l00512" ></ a >< span class = "lineno" > 512</ span > </ div >
< div class = "line" >< a id = "l00513" name = "l00513" ></ a >< span class = "lineno" > 513</ span > cv::Ptr< CV_GFTT> _gftt;</ div >
< div class = "line" >< a id = "l00514" name = "l00514" ></ a >< span class = "lineno" > 514</ span > cv::Ptr< CV_GFTT_GPU> _gpuGftt;</ div >
< div class = "line" >< a id = "l00515" name = "l00515" ></ a >< span class = "lineno" > 515</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00516" name = "l00516" ></ a >< span class = "lineno" > 516</ span > </ div >
< div class = "foldopen" id = "foldopen00518" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00518" name = "l00518" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1GFTT__BRIEF.html" > 518</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1GFTT__BRIEF.html" > GFTT_BRIEF</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1GFTT.html" > GFTT</ a ></ div >
< div class = "line" >< a id = "l00519" name = "l00519" ></ a >< span class = "lineno" > 519</ span > {</ div >
< div class = "line" >< a id = "l00520" name = "l00520" ></ a >< span class = "lineno" > 520</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00521" name = "l00521" ></ a >< span class = "lineno" > 521</ span > < a class = "code hl_class" href = "classrtabmap_1_1GFTT__BRIEF.html" > GFTT_BRIEF</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
2026-08-02 01:36:11 +00:00
< div class = "line" >< a id = "l00522" name = "l00522" ></ a >< span class = "lineno" > 522</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1GFTT__BRIEF.html" > ~GFTT_BRIEF</ a > ();</ div >
< div class = "line" >< a id = "l00523" name = "l00523" ></ a >< span class = "lineno" > 523</ span > </ div >
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< div class = "line" >< a id = "l00524" name = "l00524" ></ a >< span class = "lineno" > 524</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00525" name = "l00525" ></ a >< span class = "lineno" > 525</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType()< span class = "keyword" > const override </ span > {< span class = "keywordflow" > return</ span > kFeatureGfttBrief;}</ div >
< div class = "line" >< a id = "l00526" name = "l00526" ></ a >< span class = "lineno" > 526</ span > </ div >
< div class = "line" >< a id = "l00527" name = "l00527" ></ a >< span class = "lineno" > 527</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00528" name = "l00528" ></ a >< span class = "lineno" > 528</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & image, std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00529" name = "l00529" ></ a >< span class = "lineno" > 529</ span > </ div >
< div class = "line" >< a id = "l00530" name = "l00530" ></ a >< span class = "lineno" > 530</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00531" name = "l00531" ></ a >< span class = "lineno" > 531</ span > < span class = "keywordtype" > int</ span > bytes_;</ div >
< div class = "line" >< a id = "l00532" name = "l00532" ></ a >< span class = "lineno" > 532</ span > </ div >
< div class = "line" >< a id = "l00533" name = "l00533" ></ a >< span class = "lineno" > 533</ span > cv::Ptr< CV_BRIEF> _brief;</ div >
< div class = "line" >< a id = "l00534" name = "l00534" ></ a >< span class = "lineno" > 534</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00535" name = "l00535" ></ a >< span class = "lineno" > 535</ span > </ div >
< div class = "foldopen" id = "foldopen00537" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00537" name = "l00537" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1GFTT__FREAK.html" > 537</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1GFTT__FREAK.html" > GFTT_FREAK</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1GFTT.html" > GFTT</ a ></ div >
< div class = "line" >< a id = "l00538" name = "l00538" ></ a >< span class = "lineno" > 538</ span > {</ div >
< div class = "line" >< a id = "l00539" name = "l00539" ></ a >< span class = "lineno" > 539</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00540" name = "l00540" ></ a >< span class = "lineno" > 540</ span > < a class = "code hl_class" href = "classrtabmap_1_1GFTT__FREAK.html" > GFTT_FREAK</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00541" name = "l00541" ></ a >< span class = "lineno" > 541</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1GFTT__FREAK.html" > ~GFTT_FREAK</ a > ();</ div >
< div class = "line" >< a id = "l00542" name = "l00542" ></ a >< span class = "lineno" > 542</ span > </ div >
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< div class = "line" >< a id = "l00543" name = "l00543" ></ a >< span class = "lineno" > 543</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00544" name = "l00544" ></ a >< span class = "lineno" > 544</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType()< span class = "keyword" > const override </ span > {< span class = "keywordflow" > return</ span > kFeatureGfttFreak;}</ div >
< div class = "line" >< a id = "l00545" name = "l00545" ></ a >< span class = "lineno" > 545</ span > </ div >
< div class = "line" >< a id = "l00546" name = "l00546" ></ a >< span class = "lineno" > 546</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00547" name = "l00547" ></ a >< span class = "lineno" > 547</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & image, std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00548" name = "l00548" ></ a >< span class = "lineno" > 548</ span > </ div >
< div class = "line" >< a id = "l00549" name = "l00549" ></ a >< span class = "lineno" > 549</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00550" name = "l00550" ></ a >< span class = "lineno" > 550</ span > < span class = "keywordtype" > bool</ span > orientationNormalized_;</ div >
< div class = "line" >< a id = "l00551" name = "l00551" ></ a >< span class = "lineno" > 551</ span > < span class = "keywordtype" > bool</ span > scaleNormalized_;</ div >
< div class = "line" >< a id = "l00552" name = "l00552" ></ a >< span class = "lineno" > 552</ span > < span class = "keywordtype" > float</ span > patternScale_;</ div >
< div class = "line" >< a id = "l00553" name = "l00553" ></ a >< span class = "lineno" > 553</ span > < span class = "keywordtype" > int</ span > nOctaves_;</ div >
< div class = "line" >< a id = "l00554" name = "l00554" ></ a >< span class = "lineno" > 554</ span > </ div >
< div class = "line" >< a id = "l00555" name = "l00555" ></ a >< span class = "lineno" > 555</ span > cv::Ptr< CV_FREAK> _freak;</ div >
< div class = "line" >< a id = "l00556" name = "l00556" ></ a >< span class = "lineno" > 556</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00557" name = "l00557" ></ a >< span class = "lineno" > 557</ span > </ div >
< div class = "foldopen" id = "foldopen00559" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00559" name = "l00559" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SURF__FREAK.html" > 559</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1SURF__FREAK.html" > SURF_FREAK</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1SURF.html" > SURF</ a ></ div >
< div class = "line" >< a id = "l00560" name = "l00560" ></ a >< span class = "lineno" > 560</ span > {</ div >
< div class = "line" >< a id = "l00561" name = "l00561" ></ a >< span class = "lineno" > 561</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00562" name = "l00562" ></ a >< span class = "lineno" > 562</ span > < a class = "code hl_class" href = "classrtabmap_1_1SURF__FREAK.html" > SURF_FREAK</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00563" name = "l00563" ></ a >< span class = "lineno" > 563</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1SURF__FREAK.html" > ~SURF_FREAK</ a > ();</ div >
< div class = "line" >< a id = "l00564" name = "l00564" ></ a >< span class = "lineno" > 564</ span > </ div >
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< div class = "line" >< a id = "l00565" name = "l00565" ></ a >< span class = "lineno" > 565</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00566" name = "l00566" ></ a >< span class = "lineno" > 566</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType()< span class = "keyword" > const override </ span > {< span class = "keywordflow" > return</ span > kFeatureSurfFreak;}</ div >
< div class = "line" >< a id = "l00567" name = "l00567" ></ a >< span class = "lineno" > 567</ span > </ div >
< div class = "line" >< a id = "l00568" name = "l00568" ></ a >< span class = "lineno" > 568</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00569" name = "l00569" ></ a >< span class = "lineno" > 569</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & image, std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00570" name = "l00570" ></ a >< span class = "lineno" > 570</ span > </ div >
< div class = "line" >< a id = "l00571" name = "l00571" ></ a >< span class = "lineno" > 571</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00572" name = "l00572" ></ a >< span class = "lineno" > 572</ span > < span class = "keywordtype" > bool</ span > orientationNormalized_;</ div >
< div class = "line" >< a id = "l00573" name = "l00573" ></ a >< span class = "lineno" > 573</ span > < span class = "keywordtype" > bool</ span > scaleNormalized_;</ div >
< div class = "line" >< a id = "l00574" name = "l00574" ></ a >< span class = "lineno" > 574</ span > < span class = "keywordtype" > float</ span > patternScale_;</ div >
< div class = "line" >< a id = "l00575" name = "l00575" ></ a >< span class = "lineno" > 575</ span > < span class = "keywordtype" > int</ span > nOctaves_;</ div >
< div class = "line" >< a id = "l00576" name = "l00576" ></ a >< span class = "lineno" > 576</ span > </ div >
< div class = "line" >< a id = "l00577" name = "l00577" ></ a >< span class = "lineno" > 577</ span > cv::Ptr< CV_FREAK> _freak;</ div >
< div class = "line" >< a id = "l00578" name = "l00578" ></ a >< span class = "lineno" > 578</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00579" name = "l00579" ></ a >< span class = "lineno" > 579</ span > </ div >
< div class = "foldopen" id = "foldopen00581" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00581" name = "l00581" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1GFTT__ORB.html" > 581</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1GFTT__ORB.html" > GFTT_ORB</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1GFTT.html" > GFTT</ a ></ div >
< div class = "line" >< a id = "l00582" name = "l00582" ></ a >< span class = "lineno" > 582</ span > {</ div >
< div class = "line" >< a id = "l00583" name = "l00583" ></ a >< span class = "lineno" > 583</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00584" name = "l00584" ></ a >< span class = "lineno" > 584</ span > < a class = "code hl_class" href = "classrtabmap_1_1GFTT__ORB.html" > GFTT_ORB</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
2026-08-02 01:36:11 +00:00
< div class = "line" >< a id = "l00585" name = "l00585" ></ a >< span class = "lineno" > 585</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1GFTT__ORB.html" > ~GFTT_ORB</ a > ();</ div >
< div class = "line" >< a id = "l00586" name = "l00586" ></ a >< span class = "lineno" > 586</ span > </ div >
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< div class = "line" >< a id = "l00587" name = "l00587" ></ a >< span class = "lineno" > 587</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00588" name = "l00588" ></ a >< span class = "lineno" > 588</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType()< span class = "keyword" > const override </ span > {< span class = "keywordflow" > return</ span > kFeatureGfttOrb;}</ div >
< div class = "line" >< a id = "l00589" name = "l00589" ></ a >< span class = "lineno" > 589</ span > </ div >
< div class = "line" >< a id = "l00590" name = "l00590" ></ a >< span class = "lineno" > 590</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00591" name = "l00591" ></ a >< span class = "lineno" > 591</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & image, std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00592" name = "l00592" ></ a >< span class = "lineno" > 592</ span > </ div >
< div class = "line" >< a id = "l00593" name = "l00593" ></ a >< span class = "lineno" > 593</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00594" name = "l00594" ></ a >< span class = "lineno" > 594</ span > < a class = "code hl_class" href = "classrtabmap_1_1ORB.html" > ORB</ a > _orb;</ div >
< div class = "line" >< a id = "l00595" name = "l00595" ></ a >< span class = "lineno" > 595</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00596" name = "l00596" ></ a >< span class = "lineno" > 596</ span > </ div >
< div class = "foldopen" id = "foldopen00598" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00598" name = "l00598" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1BRISK.html" > 598</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1BRISK.html" > BRISK</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a ></ div >
< div class = "line" >< a id = "l00599" name = "l00599" ></ a >< span class = "lineno" > 599</ span > {</ div >
< div class = "line" >< a id = "l00600" name = "l00600" ></ a >< span class = "lineno" > 600</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00601" name = "l00601" ></ a >< span class = "lineno" > 601</ span > < a class = "code hl_class" href = "classrtabmap_1_1BRISK.html" > BRISK</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00602" name = "l00602" ></ a >< span class = "lineno" > 602</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1BRISK.html" > ~BRISK</ a > ();</ div >
< div class = "line" >< a id = "l00603" name = "l00603" ></ a >< span class = "lineno" > 603</ span > </ div >
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< div class = "line" >< a id = "l00604" name = "l00604" ></ a >< span class = "lineno" > 604</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00605" name = "l00605" ></ a >< span class = "lineno" > 605</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType()< span class = "keyword" > const override </ span > {< span class = "keywordflow" > return</ span > kFeatureBrisk;}</ div >
< div class = "line" >< a id = "l00606" name = "l00606" ></ a >< span class = "lineno" > 606</ span > </ div >
< div class = "line" >< a id = "l00607" name = "l00607" ></ a >< span class = "lineno" > 607</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00608" name = "l00608" ></ a >< span class = "lineno" > 608</ span > < span class = "keyword" > virtual</ span > std::vector< cv::KeyPoint> generateKeypointsImpl(< span class = "keyword" > const</ span > cv::Mat & image, < span class = "keyword" > const</ span > cv::Rect & roi, < span class = "keyword" > const</ span > cv::Mat & mask = cv::Mat()) < span class = "keyword" > override</ span > ;</ div >
< div class = "line" >< a id = "l00609" name = "l00609" ></ a >< span class = "lineno" > 609</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & image, std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00610" name = "l00610" ></ a >< span class = "lineno" > 610</ span > </ div >
< div class = "line" >< a id = "l00611" name = "l00611" ></ a >< span class = "lineno" > 611</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00612" name = "l00612" ></ a >< span class = "lineno" > 612</ span > < span class = "keywordtype" > int</ span > thresh_;</ div >
< div class = "line" >< a id = "l00613" name = "l00613" ></ a >< span class = "lineno" > 613</ span > < span class = "keywordtype" > int</ span > octaves_;</ div >
< div class = "line" >< a id = "l00614" name = "l00614" ></ a >< span class = "lineno" > 614</ span > < span class = "keywordtype" > float</ span > patternScale_;</ div >
< div class = "line" >< a id = "l00615" name = "l00615" ></ a >< span class = "lineno" > 615</ span > </ div >
< div class = "line" >< a id = "l00616" name = "l00616" ></ a >< span class = "lineno" > 616</ span > cv::Ptr< CV_BRISK> brisk_;</ div >
< div class = "line" >< a id = "l00617" name = "l00617" ></ a >< span class = "lineno" > 617</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00618" name = "l00618" ></ a >< span class = "lineno" > 618</ span > </ div >
< div class = "foldopen" id = "foldopen00620" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00620" name = "l00620" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1KAZE.html" > 620</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1KAZE.html" > KAZE</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a ></ div >
< div class = "line" >< a id = "l00621" name = "l00621" ></ a >< span class = "lineno" > 621</ span > {</ div >
< div class = "line" >< a id = "l00622" name = "l00622" ></ a >< span class = "lineno" > 622</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00623" name = "l00623" ></ a >< span class = "lineno" > 623</ span > < a class = "code hl_class" href = "classrtabmap_1_1KAZE.html" > KAZE</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00624" name = "l00624" ></ a >< span class = "lineno" > 624</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1KAZE.html" > ~KAZE</ a > ();</ div >
< div class = "line" >< a id = "l00625" name = "l00625" ></ a >< span class = "lineno" > 625</ span > </ div >
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< div class = "line" >< a id = "l00626" name = "l00626" ></ a >< span class = "lineno" > 626</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00627" name = "l00627" ></ a >< span class = "lineno" > 627</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType()< span class = "keyword" > const override </ span > { < span class = "keywordflow" > return</ span > kFeatureKaze; }</ div >
< div class = "line" >< a id = "l00628" name = "l00628" ></ a >< span class = "lineno" > 628</ span > </ div >
< div class = "line" >< a id = "l00629" name = "l00629" ></ a >< span class = "lineno" > 629</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00630" name = "l00630" ></ a >< span class = "lineno" > 630</ span > < span class = "keyword" > virtual</ span > std::vector< cv::KeyPoint> generateKeypointsImpl(< span class = "keyword" > const</ span > cv::Mat & image, < span class = "keyword" > const</ span > cv::Rect & roi, < span class = "keyword" > const</ span > cv::Mat & mask = cv::Mat()) < span class = "keyword" > override</ span > ;</ div >
< div class = "line" >< a id = "l00631" name = "l00631" ></ a >< span class = "lineno" > 631</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & image, std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00632" name = "l00632" ></ a >< span class = "lineno" > 632</ span > </ div >
< div class = "line" >< a id = "l00633" name = "l00633" ></ a >< span class = "lineno" > 633</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00634" name = "l00634" ></ a >< span class = "lineno" > 634</ span > < span class = "keywordtype" > bool</ span > extended_;</ div >
< div class = "line" >< a id = "l00635" name = "l00635" ></ a >< span class = "lineno" > 635</ span > < span class = "keywordtype" > bool</ span > upright_;</ div >
< div class = "line" >< a id = "l00636" name = "l00636" ></ a >< span class = "lineno" > 636</ span > < span class = "keywordtype" > float</ span > threshold_;</ div >
< div class = "line" >< a id = "l00637" name = "l00637" ></ a >< span class = "lineno" > 637</ span > < span class = "keywordtype" > int</ span > nOctaves_;</ div >
< div class = "line" >< a id = "l00638" name = "l00638" ></ a >< span class = "lineno" > 638</ span > < span class = "keywordtype" > int</ span > nOctaveLayers_;</ div >
< div class = "line" >< a id = "l00639" name = "l00639" ></ a >< span class = "lineno" > 639</ span > < span class = "keywordtype" > int</ span > diffusivity_;</ div >
< div class = "line" >< a id = "l00640" name = "l00640" ></ a >< span class = "lineno" > 640</ span > </ div >
< div class = "line" >< a id = "l00641" name = "l00641" ></ a >< span class = "lineno" > 641</ span >< span class = "preprocessor" > #if CV_MAJOR_VERSION > 2</ span ></ div >
< div class = "line" >< a id = "l00642" name = "l00642" ></ a >< span class = "lineno" > 642</ span > cv::Ptr< CV_KAZE> kaze_;</ div >
< div class = "line" >< a id = "l00643" name = "l00643" ></ a >< span class = "lineno" > 643</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00644" name = "l00644" ></ a >< span class = "lineno" > 644</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00645" name = "l00645" ></ a >< span class = "lineno" > 645</ span > </ div >
< div class = "foldopen" id = "foldopen00647" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00647" name = "l00647" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1ORBOctree.html" > 647</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1ORBOctree.html" > ORBOctree</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a ></ div >
< div class = "line" >< a id = "l00648" name = "l00648" ></ a >< span class = "lineno" > 648</ span > {</ div >
< div class = "line" >< a id = "l00649" name = "l00649" ></ a >< span class = "lineno" > 649</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00650" name = "l00650" ></ a >< span class = "lineno" > 650</ span > < a class = "code hl_class" href = "classrtabmap_1_1ORBOctree.html" > ORBOctree</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00651" name = "l00651" ></ a >< span class = "lineno" > 651</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1ORBOctree.html" > ~ORBOctree</ a > ();</ div >
< div class = "line" >< a id = "l00652" name = "l00652" ></ a >< span class = "lineno" > 652</ span > </ div >
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< div class = "line" >< a id = "l00653" name = "l00653" ></ a >< span class = "lineno" > 653</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00654" name = "l00654" ></ a >< span class = "lineno" > 654</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType()< span class = "keyword" > const override </ span > {< span class = "keywordflow" > return</ span > kFeatureOrbOctree;}</ div >
< div class = "line" >< a id = "l00655" name = "l00655" ></ a >< span class = "lineno" > 655</ span > </ div >
< div class = "line" >< a id = "l00656" name = "l00656" ></ a >< span class = "lineno" > 656</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00657" name = "l00657" ></ a >< span class = "lineno" > 657</ span > < span class = "keyword" > virtual</ span > std::vector< cv::KeyPoint> generateKeypointsImpl(< span class = "keyword" > const</ span > cv::Mat & image, < span class = "keyword" > const</ span > cv::Rect & roi, < span class = "keyword" > const</ span > cv::Mat & mask = cv::Mat()) < span class = "keyword" > override</ span > ;</ div >
< div class = "line" >< a id = "l00658" name = "l00658" ></ a >< span class = "lineno" > 658</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & image, std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00659" name = "l00659" ></ a >< span class = "lineno" > 659</ span > </ div >
< div class = "line" >< a id = "l00660" name = "l00660" ></ a >< span class = "lineno" > 660</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00661" name = "l00661" ></ a >< span class = "lineno" > 661</ span > < span class = "keywordtype" > float</ span > scaleFactor_;</ div >
< div class = "line" >< a id = "l00662" name = "l00662" ></ a >< span class = "lineno" > 662</ span > < span class = "keywordtype" > int</ span > nLevels_;</ div >
< div class = "line" >< a id = "l00663" name = "l00663" ></ a >< span class = "lineno" > 663</ span > < span class = "keywordtype" > int</ span > patchSize_;</ div >
< div class = "line" >< a id = "l00664" name = "l00664" ></ a >< span class = "lineno" > 664</ span > < span class = "keywordtype" > int</ span > edgeThreshold_;</ div >
< div class = "line" >< a id = "l00665" name = "l00665" ></ a >< span class = "lineno" > 665</ span > < span class = "keywordtype" > int</ span > fastThreshold_;</ div >
< div class = "line" >< a id = "l00666" name = "l00666" ></ a >< span class = "lineno" > 666</ span > < span class = "keywordtype" > int</ span > fastMinThreshold_;</ div >
< div class = "line" >< a id = "l00667" name = "l00667" ></ a >< span class = "lineno" > 667</ span > </ div >
< div class = "line" >< a id = "l00668" name = "l00668" ></ a >< span class = "lineno" > 668</ span > cv::Ptr< ORBextractor> _orb;</ div >
< div class = "line" >< a id = "l00669" name = "l00669" ></ a >< span class = "lineno" > 669</ span > cv::Mat descriptors_;</ div >
< div class = "line" >< a id = "l00670" name = "l00670" ></ a >< span class = "lineno" > 670</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00671" name = "l00671" ></ a >< span class = "lineno" > 671</ span > </ div >
< div class = "foldopen" id = "foldopen00673" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00673" name = "l00673" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SuperPointTorch.html" > 673</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1SuperPointTorch.html" > SuperPointTorch</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a ></ div >
< div class = "line" >< a id = "l00674" name = "l00674" ></ a >< span class = "lineno" > 674</ span > {</ div >
< div class = "line" >< a id = "l00675" name = "l00675" ></ a >< span class = "lineno" > 675</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00676" name = "l00676" ></ a >< span class = "lineno" > 676</ span > < a class = "code hl_class" href = "classrtabmap_1_1SuperPointTorch.html" > SuperPointTorch</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00677" name = "l00677" ></ a >< span class = "lineno" > 677</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1SuperPointTorch.html" > ~SuperPointTorch</ a > ();</ div >
< div class = "line" >< a id = "l00678" name = "l00678" ></ a >< span class = "lineno" > 678</ span > </ div >
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< div class = "line" >< a id = "l00679" name = "l00679" ></ a >< span class = "lineno" > 679</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00680" name = "l00680" ></ a >< span class = "lineno" > 680</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType()< span class = "keyword" > const override </ span > { < span class = "keywordflow" > return</ span > kFeatureSuperPointTorch; }</ div >
< div class = "line" >< a id = "l00681" name = "l00681" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SuperPointTorch.html#aee69f6089f657449d3813b440abbaa25" > 681</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1SuperPointTorch.html#aee69f6089f657449d3813b440abbaa25" > isGpuAvailable</ a > () < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00682" name = "l00682" ></ a >< span class = "lineno" > 682</ span > </ div >
< div class = "line" >< a id = "l00683" name = "l00683" ></ a >< span class = "lineno" > 683</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00684" name = "l00684" ></ a >< span class = "lineno" > 684</ span > < span class = "keyword" > virtual</ span > std::vector< cv::KeyPoint> generateKeypointsImpl(< span class = "keyword" > const</ span > cv::Mat & image, < span class = "keyword" > const</ span > cv::Rect & roi, < span class = "keyword" > const</ span > cv::Mat & mask = cv::Mat()) < span class = "keyword" > override</ span > ;</ div >
< div class = "line" >< a id = "l00685" name = "l00685" ></ a >< span class = "lineno" > 685</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & image, std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00686" name = "l00686" ></ a >< span class = "lineno" > 686</ span > </ div >
< div class = "line" >< a id = "l00687" name = "l00687" ></ a >< span class = "lineno" > 687</ span > cv::Ptr< SPDetector> superPoint_;</ div >
< div class = "line" >< a id = "l00688" name = "l00688" ></ a >< span class = "lineno" > 688</ span > </ div >
< div class = "line" >< a id = "l00689" name = "l00689" ></ a >< span class = "lineno" > 689</ span > std::string path_;</ div >
< div class = "line" >< a id = "l00690" name = "l00690" ></ a >< span class = "lineno" > 690</ span > < span class = "keywordtype" > float</ span > threshold_;</ div >
< div class = "line" >< a id = "l00691" name = "l00691" ></ a >< span class = "lineno" > 691</ span > < span class = "keywordtype" > bool</ span > nms_;</ div >
< div class = "line" >< a id = "l00692" name = "l00692" ></ a >< span class = "lineno" > 692</ span > < span class = "keywordtype" > int</ span > minDistance_;</ div >
< div class = "line" >< a id = "l00693" name = "l00693" ></ a >< span class = "lineno" > 693</ span > < span class = "keywordtype" > bool</ span > cuda_;</ div >
< div class = "line" >< a id = "l00694" name = "l00694" ></ a >< span class = "lineno" > 694</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00695" name = "l00695" ></ a >< span class = "lineno" > 695</ span > </ div >
< div class = "foldopen" id = "foldopen00697" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00697" name = "l00697" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SuperPointRpautrat.html" > 697</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1SuperPointRpautrat.html" > SuperPointRpautrat</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a ></ div >
< div class = "line" >< a id = "l00698" name = "l00698" ></ a >< span class = "lineno" > 698</ span > {</ div >
< div class = "line" >< a id = "l00699" name = "l00699" ></ a >< span class = "lineno" > 699</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00700" name = "l00700" ></ a >< span class = "lineno" > 700</ span > < a class = "code hl_class" href = "classrtabmap_1_1SuperPointRpautrat.html" > SuperPointRpautrat</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00701" name = "l00701" ></ a >< span class = "lineno" > 701</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1SuperPointRpautrat.html" > ~SuperPointRpautrat</ a > ();</ div >
< div class = "line" >< a id = "l00702" name = "l00702" ></ a >< span class = "lineno" > 702</ span > </ div >
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< div class = "line" >< a id = "l00703" name = "l00703" ></ a >< span class = "lineno" > 703</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00704" name = "l00704" ></ a >< span class = "lineno" > 704</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType()< span class = "keyword" > const override </ span > { < span class = "keywordflow" > return</ span > kFeatureSuperPointRpautrat; }</ div >
< div class = "line" >< a id = "l00705" name = "l00705" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SuperPointRpautrat.html#ac041c8738dc391661ba21331bf78d344" > 705</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1SuperPointRpautrat.html#ac041c8738dc391661ba21331bf78d344" > isGpuAvailable</ a > () < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00706" name = "l00706" ></ a >< span class = "lineno" > 706</ span > </ div >
< div class = "line" >< a id = "l00707" name = "l00707" ></ a >< span class = "lineno" > 707</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00708" name = "l00708" ></ a >< span class = "lineno" > 708</ span > < span class = "keyword" > virtual</ span > std::vector< cv::KeyPoint> generateKeypointsImpl(< span class = "keyword" > const</ span > cv::Mat & image, < span class = "keyword" > const</ span > cv::Rect & roi, < span class = "keyword" > const</ span > cv::Mat & mask = cv::Mat()) < span class = "keyword" > override</ span > ;</ div >
< div class = "line" >< a id = "l00709" name = "l00709" ></ a >< span class = "lineno" > 709</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & image, std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00710" name = "l00710" ></ a >< span class = "lineno" > 710</ span > </ div >
< div class = "line" >< a id = "l00711" name = "l00711" ></ a >< span class = "lineno" > 711</ span > cv::Ptr< SPDetectorRpautrat> superPoint_;</ div >
< div class = "line" >< a id = "l00712" name = "l00712" ></ a >< span class = "lineno" > 712</ span > </ div >
< div class = "line" >< a id = "l00713" name = "l00713" ></ a >< span class = "lineno" > 713</ span > std::string superpointWeightsPath_;</ div >
< div class = "line" >< a id = "l00714" name = "l00714" ></ a >< span class = "lineno" > 714</ span > std::string superpointModelPath_;</ div >
< div class = "line" >< a id = "l00715" name = "l00715" ></ a >< span class = "lineno" > 715</ span > std::string outputDir_;</ div >
< div class = "line" >< a id = "l00716" name = "l00716" ></ a >< span class = "lineno" > 716</ span > < span class = "keywordtype" > float</ span > threshold_;</ div >
< div class = "line" >< a id = "l00717" name = "l00717" ></ a >< span class = "lineno" > 717</ span > < span class = "keywordtype" > bool</ span > nms_;</ div >
< div class = "line" >< a id = "l00718" name = "l00718" ></ a >< span class = "lineno" > 718</ span > < span class = "keywordtype" > int</ span > minDistance_;</ div >
< div class = "line" >< a id = "l00719" name = "l00719" ></ a >< span class = "lineno" > 719</ span > < span class = "keywordtype" > bool</ span > cuda_;</ div >
< div class = "line" >< a id = "l00720" name = "l00720" ></ a >< span class = "lineno" > 720</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00721" name = "l00721" ></ a >< span class = "lineno" > 721</ span > </ div >
< div class = "foldopen" id = "foldopen00723" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00723" name = "l00723" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1GFTT__DAISY.html" > 723</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1GFTT__DAISY.html" > GFTT_DAISY</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1GFTT.html" > GFTT</ a ></ div >
< div class = "line" >< a id = "l00724" name = "l00724" ></ a >< span class = "lineno" > 724</ span > {</ div >
< div class = "line" >< a id = "l00725" name = "l00725" ></ a >< span class = "lineno" > 725</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00726" name = "l00726" ></ a >< span class = "lineno" > 726</ span > < a class = "code hl_class" href = "classrtabmap_1_1GFTT__DAISY.html" > GFTT_DAISY</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00727" name = "l00727" ></ a >< span class = "lineno" > 727</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1GFTT__DAISY.html" > ~GFTT_DAISY</ a > ();</ div >
< div class = "line" >< a id = "l00728" name = "l00728" ></ a >< span class = "lineno" > 728</ span > </ div >
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< div class = "line" >< a id = "l00729" name = "l00729" ></ a >< span class = "lineno" > 729</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00730" name = "l00730" ></ a >< span class = "lineno" > 730</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType()< span class = "keyword" > const override </ span > {< span class = "keywordflow" > return</ span > kFeatureGfttDaisy;}</ div >
< div class = "line" >< a id = "l00731" name = "l00731" ></ a >< span class = "lineno" > 731</ span > </ div >
< div class = "line" >< a id = "l00732" name = "l00732" ></ a >< span class = "lineno" > 732</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00733" name = "l00733" ></ a >< span class = "lineno" > 733</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & image, std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00734" name = "l00734" ></ a >< span class = "lineno" > 734</ span > </ div >
< div class = "line" >< a id = "l00735" name = "l00735" ></ a >< span class = "lineno" > 735</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00736" name = "l00736" ></ a >< span class = "lineno" > 736</ span > < span class = "keywordtype" > bool</ span > orientationNormalized_;</ div >
< div class = "line" >< a id = "l00737" name = "l00737" ></ a >< span class = "lineno" > 737</ span > < span class = "keywordtype" > bool</ span > scaleNormalized_;</ div >
< div class = "line" >< a id = "l00738" name = "l00738" ></ a >< span class = "lineno" > 738</ span > < span class = "keywordtype" > float</ span > patternScale_;</ div >
< div class = "line" >< a id = "l00739" name = "l00739" ></ a >< span class = "lineno" > 739</ span > < span class = "keywordtype" > int</ span > nOctaves_;</ div >
< div class = "line" >< a id = "l00740" name = "l00740" ></ a >< span class = "lineno" > 740</ span > </ div >
< div class = "line" >< a id = "l00741" name = "l00741" ></ a >< span class = "lineno" > 741</ span >< span class = "preprocessor" > #if CV_MAJOR_VERSION > 2</ span ></ div >
< div class = "line" >< a id = "l00742" name = "l00742" ></ a >< span class = "lineno" > 742</ span > cv::Ptr< CV_DAISY> _daisy;</ div >
< div class = "line" >< a id = "l00743" name = "l00743" ></ a >< span class = "lineno" > 743</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00744" name = "l00744" ></ a >< span class = "lineno" > 744</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00745" name = "l00745" ></ a >< span class = "lineno" > 745</ span > </ div >
< div class = "foldopen" id = "foldopen00747" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00747" name = "l00747" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SURF__DAISY.html" > 747</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1SURF__DAISY.html" > SURF_DAISY</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1SURF.html" > SURF</ a ></ div >
< div class = "line" >< a id = "l00748" name = "l00748" ></ a >< span class = "lineno" > 748</ span > {</ div >
< div class = "line" >< a id = "l00749" name = "l00749" ></ a >< span class = "lineno" > 749</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00750" name = "l00750" ></ a >< span class = "lineno" > 750</ span > < a class = "code hl_class" href = "classrtabmap_1_1SURF__DAISY.html" > SURF_DAISY</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00751" name = "l00751" ></ a >< span class = "lineno" > 751</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1SURF__DAISY.html" > ~SURF_DAISY</ a > ();</ div >
< div class = "line" >< a id = "l00752" name = "l00752" ></ a >< span class = "lineno" > 752</ span > </ div >
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< div class = "line" >< a id = "l00753" name = "l00753" ></ a >< span class = "lineno" > 753</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > parseParameters(< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > override</ span > ;</ div >
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< div class = "line" >< a id = "l00754" name = "l00754" ></ a >< span class = "lineno" > 754</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > Feature2D::Type</ a > getType()< span class = "keyword" > const override </ span > {< span class = "keywordflow" > return</ span > kFeatureSurfDaisy;}</ div >
< div class = "line" >< a id = "l00755" name = "l00755" ></ a >< span class = "lineno" > 755</ span > </ div >
< div class = "line" >< a id = "l00756" name = "l00756" ></ a >< span class = "lineno" > 756</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00757" name = "l00757" ></ a >< span class = "lineno" > 757</ span > < span class = "keyword" > virtual</ span > cv::Mat generateDescriptorsImpl(< span class = "keyword" > const</ span > cv::Mat & image, std::vector< cv::KeyPoint> & keypoints) < span class = "keyword" > const override</ span > ;</ div >
< div class = "line" >< a id = "l00758" name = "l00758" ></ a >< span class = "lineno" > 758</ span > </ div >
< div class = "line" >< a id = "l00759" name = "l00759" ></ a >< span class = "lineno" > 759</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00760" name = "l00760" ></ a >< span class = "lineno" > 760</ span > < span class = "keywordtype" > bool</ span > orientationNormalized_;</ div >
< div class = "line" >< a id = "l00761" name = "l00761" ></ a >< span class = "lineno" > 761</ span > < span class = "keywordtype" > bool</ span > scaleNormalized_;</ div >
< div class = "line" >< a id = "l00762" name = "l00762" ></ a >< span class = "lineno" > 762</ span > < span class = "keywordtype" > float</ span > patternScale_;</ div >
< div class = "line" >< a id = "l00763" name = "l00763" ></ a >< span class = "lineno" > 763</ span > < span class = "keywordtype" > int</ span > nOctaves_;</ div >
< div class = "line" >< a id = "l00764" name = "l00764" ></ a >< span class = "lineno" > 764</ span > </ div >
< div class = "line" >< a id = "l00765" name = "l00765" ></ a >< span class = "lineno" > 765</ span >< span class = "preprocessor" > #if CV_MAJOR_VERSION > 2</ span ></ div >
< div class = "line" >< a id = "l00766" name = "l00766" ></ a >< span class = "lineno" > 766</ span > cv::Ptr< CV_DAISY> _daisy;</ div >
< div class = "line" >< a id = "l00767" name = "l00767" ></ a >< span class = "lineno" > 767</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00768" name = "l00768" ></ a >< span class = "lineno" > 768</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00769" name = "l00769" ></ a >< span class = "lineno" > 769</ span > </ div >
< div class = "line" >< a id = "l00770" name = "l00770" ></ a >< span class = "lineno" > 770</ span > }</ div >
< div class = "line" >< a id = "l00771" name = "l00771" ></ a >< span class = "lineno" > 771</ span > </ div >
< div class = "line" >< a id = "l00772" name = "l00772" ></ a >< span class = "lineno" > 772</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* FEATURES2D_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1BRISK_html" >< div class = "ttname" >< a href = "classrtabmap_1_1BRISK.html" > rtabmap::BRISK</ a ></ div >< div class = "ttdoc" > BRISK detector and descriptor.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00598" > Features2d.h:599</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1FAST__BRIEF_html" >< div class = "ttname" >< a href = "classrtabmap_1_1FAST__BRIEF.html" > rtabmap::FAST_BRIEF</ a ></ div >< div class = "ttdoc" > FAST corners + BRIEF descriptors.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00452" > Features2d.h:453</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1FAST__FREAK_html" >< div class = "ttname" >< a href = "classrtabmap_1_1FAST__FREAK.html" > rtabmap::FAST_FREAK</ a ></ div >< div class = "ttdoc" > FAST corners + FREAK descriptors.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00471" > Features2d.h:472</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1FAST_html" >< div class = "ttname" >< a href = "classrtabmap_1_1FAST.html" > rtabmap::FAST</ a ></ div >< div class = "ttdoc" > FAST corner detector only (no descriptor).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00415" > Features2d.h:416</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1FAST_html_a1418ac4de2bdf5815df888a4d1f50b2e" >< div class = "ttname" >< a href = "classrtabmap_1_1FAST.html#a1418ac4de2bdf5815df888a4d1f50b2e" > rtabmap::FAST::isGpuAvailable</ a ></ div >< div class = "ttdeci" > virtual bool isGpuAvailable() const override</ div >< div class = "ttdoc" > Returns true when a GPU/CUDA code path could be used by this detector on this host: i....</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Feature2D_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Feature2D.html" > rtabmap::Feature2D</ a ></ div >< div class = "ttdoc" > Abstract 2D feature detector and descriptor extractor for visual SLAM.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00145" > Features2d.h:145</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Feature2D_html_a32fa09026282be6a729483bfe57d31ec" >< div class = "ttname" >< a href = "classrtabmap_1_1Feature2D.html#a32fa09026282be6a729483bfe57d31ec" > rtabmap::Feature2D::filterKeypointsByDisparity</ a ></ div >< div class = "ttdeci" > static void filterKeypointsByDisparity(std::vector< cv::KeyPoint > & keypoints, const cv::Mat & disparity, float minDisparity)</ div >< div class = "ttdoc" > Keeps keypoints with stereo disparity ≥ minDisparity.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Feature2D_html_a58ac3dff96e882f0e4bbbf8a8ffc435d" >< div class = "ttname" >< a href = "classrtabmap_1_1Feature2D.html#a58ac3dff96e882f0e4bbbf8a8ffc435d" > rtabmap::Feature2D::create</ a ></ div >< div class = "ttdeci" > static Feature2D * create(const ParametersMap & parameters=ParametersMap())</ div >< div class = "ttdoc" > Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Feature2D_html_a6020550480c25d36f0b4255629e75ee2" >< div class = "ttname" >< a href = "classrtabmap_1_1Feature2D.html#a6020550480c25d36f0b4255629e75ee2" > rtabmap::Feature2D::isAvailable</ a ></ div >< div class = "ttdeci" > static bool isAvailable(Feature2D::Type type)</ div >< div class = "ttdoc" > Returns true if type is available (RTAB-Map is built with it).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Feature2D_html_a7453189891e489bbcff1f2c971d04fde" >< div class = "ttname" >< a href = "classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde" > rtabmap::Feature2D::Type</ a ></ div >< div class = "ttdeci" > Type</ div >< div class = "ttdoc" > Built-in detector/descriptor strategy (Kp/DetectorStrategy).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00148" > Features2d.h:148</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Feature2D_html_a78d70d2150b42203ffd1c94d79661248" >< div class = "ttname" >< a href = "classrtabmap_1_1Feature2D.html#a78d70d2150b42203ffd1c94d79661248" > rtabmap::Feature2D::generateKeypoints</ a ></ div >< div class = "ttdeci" > std::vector< cv::KeyPoint > generateKeypoints(const cv::Mat & image, const cv::Mat & mask=cv::Mat())</ div >< div class = "ttdoc" > Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Feature2D_html_a8bdfa57df68506fecb6342b9f5bc98e8" >< div class = "ttname" >< a href = "classrtabmap_1_1Feature2D.html#a8bdfa57df68506fecb6342b9f5bc98e8" > rtabmap::Feature2D::computeRoi</ a ></ div >< div class = "ttdeci" > static cv::Rect computeRoi(const cv::Mat & image, const std::string & roiRatios)</ div >< div class = "ttdoc" > ROI from Kp/RoiRatios string (" left top right bottom" fractions).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Feature2D_html_a8d330b2b7db059f59c257cde6c9b6a99" >< div class = "ttname" >< a href = "classrtabmap_1_1Feature2D.html#a8d330b2b7db059f59c257cde6c9b6a99" > rtabmap::Feature2D::isGpuAvailable</ a ></ div >< div class = "ttdeci" > virtual bool isGpuAvailable() const</ div >< div class = "ttdoc" > Returns true when a GPU/CUDA code path could be used by this detector on this host: i....</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00294" > Features2d.h:294</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Feature2D_html_a98050ef4da598e5b35bc32317bc58b84" >< div class = "ttname" >< a href = "classrtabmap_1_1Feature2D.html#a98050ef4da598e5b35bc32317bc58b84" > rtabmap::Feature2D::typeName</ a ></ div >< div class = "ttdeci" > static std::string typeName(Type type)</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00169" > Features2d.h:169</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Feature2D_html_aa5c0258ede589769bc50c6d6071d595c" >< div class = "ttname" >< a href = "classrtabmap_1_1Feature2D.html#aa5c0258ede589769bc50c6d6071d595c" > rtabmap::Feature2D::limitKeypoints</ a ></ div >< div class = "ttdeci" > static void limitKeypoints(std::vector< cv::KeyPoint > & keypoints, int maxKeypoints, const cv::Size & imageSize=cv::Size(), bool ssc=false)</ div >< div class = "ttdoc" > Reduces keypoint count (by response or SSC spatial distribution).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Feature2D_html_aadbb5a7611eb94ea6925115999bc0f4e" >< div class = "ttname" >< a href = "classrtabmap_1_1Feature2D.html#aadbb5a7611eb94ea6925115999bc0f4e" > rtabmap::Feature2D::filterKeypointsByDepth</ a ></ div >< div class = "ttdeci" > static void filterKeypointsByDepth(std::vector< cv::KeyPoint > & keypoints, const cv::Mat & depth, float minDepth, float maxDepth)</ div >< div class = "ttdoc" > Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Feature2D_html_ab9deec7c0e26722736aeeaeb5541ac3a" >< div class = "ttname" >< a href = "classrtabmap_1_1Feature2D.html#ab9deec7c0e26722736aeeaeb5541ac3a" > rtabmap::Feature2D::create</ a ></ div >< div class = "ttdeci" > static Feature2D * create(Feature2D::Type type, const ParametersMap & parameters=ParametersMap())</ div >< div class = "ttdoc" > Creates a detector of the given type. Caller owns the pointer.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Feature2D_html_abaca942668ac3d2f16d3e78797ff0fb9" >< div class = "ttname" >< a href = "classrtabmap_1_1Feature2D.html#abaca942668ac3d2f16d3e78797ff0fb9" > rtabmap::Feature2D::generateDescriptors</ a ></ div >< div class = "ttdeci" > cv::Mat generateDescriptors(const cv::Mat & image, std::vector< cv::KeyPoint > & keypoints) const</ div >< div class = "ttdoc" > Computes descriptors for keypoints (may shrink the list in some detectors).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Feature2D_html_ae01a548fe993a7aa309cce96645693ce" >< div class = "ttname" >< a href = "classrtabmap_1_1Feature2D.html#ae01a548fe993a7aa309cce96645693ce" > rtabmap::Feature2D::generateKeypoints3D</ a ></ div >< div class = "ttdeci" > std::vector< cv::Point3f > generateKeypoints3D(const SensorData & data, const std::vector< cv::KeyPoint > & keypoints) const</ div >< div class = "ttdoc" > Back-projects keypoints to 3D using depth or stereo in data.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1GFTT__BRIEF_html" >< div class = "ttname" >< a href = "classrtabmap_1_1GFTT__BRIEF.html" > rtabmap::GFTT_BRIEF</ a ></ div >< div class = "ttdoc" > GFTT corners + BRIEF descriptors.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00518" > Features2d.h:519</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1GFTT__DAISY_html" >< div class = "ttname" >< a href = "classrtabmap_1_1GFTT__DAISY.html" > rtabmap::GFTT_DAISY</ a ></ div >< div class = "ttdoc" > GFTT corners + DAISY descriptors (OpenCV 3+ xfeatures2d).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00723" > Features2d.h:724</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1GFTT__FREAK_html" >< div class = "ttname" >< a href = "classrtabmap_1_1GFTT__FREAK.html" > rtabmap::GFTT_FREAK</ a ></ div >< div class = "ttdoc" > GFTT corners + FREAK descriptors.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00537" > Features2d.h:538</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1GFTT__ORB_html" >< div class = "ttname" >< a href = "classrtabmap_1_1GFTT__ORB.html" > rtabmap::GFTT_ORB</ a ></ div >< div class = "ttdoc" > GFTT corners + ORB descriptors (common default when SURF is unavailable).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00581" > Features2d.h:582</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1GFTT_html" >< div class = "ttname" >< a href = "classrtabmap_1_1GFTT.html" > rtabmap::GFTT</ a ></ div >< div class = "ttdoc" > Good-features-to-track detector (Shi– </ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00493" > Features2d.h:494</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1GFTT_html_a05151f04cf624576783837dc48ddf744" >< div class = "ttname" >< a href = "classrtabmap_1_1GFTT.html#a05151f04cf624576783837dc48ddf744" > rtabmap::GFTT::isGpuAvailable</ a ></ div >< div class = "ttdeci" > virtual bool isGpuAvailable() const override</ div >< div class = "ttdoc" > Returns true when a GPU/CUDA code path could be used by this detector on this host: i....</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1KAZE_html" >< div class = "ttname" >< a href = "classrtabmap_1_1KAZE.html" > rtabmap::KAZE</ a ></ div >< div class = "ttdoc" > KAZE detector and descriptor (OpenCV 3+).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00620" > Features2d.h:621</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1ORBOctree_html" >< div class = "ttname" >< a href = "classrtabmap_1_1ORBOctree.html" > rtabmap::ORBOctree</ a ></ div >< div class = "ttdoc" > ORB with octree spatial distribution (RTAB-Map must be built with OCTREE enabled).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00647" > Features2d.h:648</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1ORB_html" >< div class = "ttname" >< a href = "classrtabmap_1_1ORB.html" > rtabmap::ORB</ a ></ div >< div class = "ttdoc" > ORB detector and descriptor (optional GPU).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00383" > Features2d.h:384</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1ORB_html_a7b5e3e7cc41dd04e517c5332f04d3a0a" >< div class = "ttname" >< a href = "classrtabmap_1_1ORB.html#a7b5e3e7cc41dd04e517c5332f04d3a0a" > rtabmap::ORB::isGpuAvailable</ a ></ div >< div class = "ttdeci" > virtual bool isGpuAvailable() const override</ div >< div class = "ttdoc" > Returns true when a GPU/CUDA code path could be used by this detector on this host: i....</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SIFT_html" >< div class = "ttname" >< a href = "classrtabmap_1_1SIFT.html" > rtabmap::SIFT</ a ></ div >< div class = "ttdoc" > SIFT detector and descriptor (optional GPU / CudaSift).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00348" > Features2d.h:349</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SIFT_html_ad089f68ffc9ef1b42b5a9c2d5a5ecd81" >< div class = "ttname" >< a href = "classrtabmap_1_1SIFT.html#ad089f68ffc9ef1b42b5a9c2d5a5ecd81" > rtabmap::SIFT::isGpuAvailable</ a ></ div >< div class = "ttdeci" > virtual bool isGpuAvailable() const override</ div >< div class = "ttdoc" > Returns true when a GPU/CUDA code path could be used by this detector on this host: i....</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SURF__DAISY_html" >< div class = "ttname" >< a href = "classrtabmap_1_1SURF__DAISY.html" > rtabmap::SURF_DAISY</ a ></ div >< div class = "ttdoc" > SURF detector + DAISY descriptors (OpenCV 3+ xfeatures2d).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00747" > Features2d.h:748</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SURF__FREAK_html" >< div class = "ttname" >< a href = "classrtabmap_1_1SURF__FREAK.html" > rtabmap::SURF_FREAK</ a ></ div >< div class = "ttdoc" > SURF detector + FREAK descriptors.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00559" > Features2d.h:560</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SURF_html" >< div class = "ttname" >< a href = "classrtabmap_1_1SURF.html" > rtabmap::SURF</ a ></ div >< div class = "ttdoc" > SURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00320" > Features2d.h:321</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SURF_html_a1150923dbf7e1bfd066dba0c3b22db57" >< div class = "ttname" >< a href = "classrtabmap_1_1SURF.html#a1150923dbf7e1bfd066dba0c3b22db57" > rtabmap::SURF::isGpuAvailable</ a ></ div >< div class = "ttdeci" > virtual bool isGpuAvailable() const override</ div >< div class = "ttdoc" > Returns true when a GPU/CUDA code path could be used by this detector on this host: i....</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html" > rtabmap::SensorData</ a ></ div >< div class = "ttdoc" > Container class for all sensor data captured at a specific time.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00096" > SensorData.h:97</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Stereo_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Stereo.html" > rtabmap::Stereo</ a ></ div >< div class = "ttdoc" > Sparse stereo matching using block matching.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Stereo_8h_source.html#l00055" > Stereo.h:55</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SuperPointRpautrat_html" >< div class = "ttname" >< a href = "classrtabmap_1_1SuperPointRpautrat.html" > rtabmap::SuperPointRpautrat</ a ></ div >< div class = "ttdoc" > SuperPoint (rpautrat) via Torch + Python (RTAB-Map must be built with libtorch and Python support).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00697" > Features2d.h:698</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SuperPointRpautrat_html_ac041c8738dc391661ba21331bf78d344" >< div class = "ttname" >< a href = "classrtabmap_1_1SuperPointRpautrat.html#ac041c8738dc391661ba21331bf78d344" > rtabmap::SuperPointRpautrat::isGpuAvailable</ a ></ div >< div class = "ttdeci" > virtual bool isGpuAvailable() const override</ div >< div class = "ttdoc" > Returns true when a GPU/CUDA code path could be used by this detector on this host: i....</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SuperPointTorch_html" >< div class = "ttname" >< a href = "classrtabmap_1_1SuperPointTorch.html" > rtabmap::SuperPointTorch</ a ></ div >< div class = "ttdoc" > SuperPoint via LibTorch (RTAB-Map must be built with libtorch support).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Features2d_8h_source.html#l00673" > Features2d.h:674</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SuperPointTorch_html_aee69f6089f657449d3813b440abbaa25" >< div class = "ttname" >< a href = "classrtabmap_1_1SuperPointTorch.html#aee69f6089f657449d3813b440abbaa25" > rtabmap::SuperPointTorch::isGpuAvailable</ a ></ div >< div class = "ttdeci" > virtual bool isGpuAvailable() const override</ div >< div class = "ttdoc" > Returns true when a GPU/CUDA code path could be used by this detector on this host: i....</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_html" >< div class = "ttname" >< a href = "namespacertabmap.html" > rtabmap</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "BayesFilter_8h_source.html#l00039" > BayesFilter.h:39</ a ></ div ></ div >
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< div class = "ttc" id = "anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55" >< div class = "ttname" >< a href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > rtabmap::ParametersMap</ a ></ div >< div class = "ttdeci" > std::map< std::string, std::string > ParametersMap</ div >< div class = "ttdoc" > Parameter keys mapped to their values, as used by every configurable class (see Parameters).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Parameters_8h_source.html#l00044" > Parameters.h:44</ a ></ div ></ div >
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