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Added FREAK detector/descriptor option with OpenCV3

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matlabbe
2017-01-30 22:24:51 -05:00
parent f61569622a
commit 0f96bf7709
4 changed files with 199 additions and 13 deletions
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26
corelib/include/rtabmap/core/Features2d.h
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@@ -104,7 +104,8 @@ public:
kFeatureGfttFreak=5,
kFeatureGfttBrief=6,
kFeatureBrisk=7,
kFeatureGfttOrb=8}; //new 0.10.11
kFeatureGfttOrb=8, //new 0.10.11
kFeatureFreak=9}; //new 0.11.14
static Feature2D * create(const ParametersMap & parameters = ParametersMap());
static Feature2D * create(Feature2D::Type type, const ParametersMap & parameters = ParametersMap()); // for convenience
@@ -431,6 +432,29 @@ private:
cv::Ptr<CV_BRISK> brisk_;
};
//FREAK
class RTABMAP_EXP FREAK : public Feature2D
{
public:
FREAK(const ParametersMap & parameters = ParametersMap());
virtual ~FREAK();
virtual void parseParameters(const ParametersMap & parameters);
virtual Feature2D::Type getType() const { return kFeatureFreak; }
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) const;
virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const;
private:
bool orientationNormalized_;
bool scaleNormalized_;
float patternScale_;
int nOctaves_;
cv::Ptr<CV_FREAK> _freak;
};
}