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2026-08-02 07:56:38 +00:00
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<li class="navelem"><a class="el" href="namespacertabmap.html">rtabmap</a></li><li class="navelem"><a class="el" href="classrtabmap_1_1Feature2D.html">Feature2D</a></li> </ul>
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<tr class="memdesc:ae01a548fe993a7aa309cce96645693ce"><td class="mdescLeft">&#160;</td><td class="mdescRight">Back-projects keypoints to 3D using depth or stereo in <code>data</code>. <br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>parseParameters</b> (const ParametersMap &amp;parameters)</td></tr>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>parseParameters</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;parameters)</td></tr>
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virtual <a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a>&#160;</td><td class="memItemRight" valign="bottom"><b>getType</b> () const =0</td></tr>
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<tr class="memitem:a98050ef4da598e5b35bc32317bc58b84" id="r_a98050ef4da598e5b35bc32317bc58b84"><td class="memItemLeft" align="right" valign="top">static std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Feature2D.html#a98050ef4da598e5b35bc32317bc58b84">typeName</a> (<a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Type</a> type)</td></tr>
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static <a class="el" href="classrtabmap_1_1Feature2D.html">Feature2D</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>create</b> (const ParametersMap &amp;parameters=ParametersMap())</td></tr>
static <a class="el" href="classrtabmap_1_1Feature2D.html">Feature2D</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>create</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
<tr class="memdesc:a58ac3dff96e882f0e4bbbf8a8ffc435d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a detector from <b>Kp/DetectorStrategy</b> in <code>parameters</code>. Caller owns the pointer. <br /></td></tr>
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static <a class="el" href="classrtabmap_1_1Feature2D.html">Feature2D</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>create</b> (<a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> type, const ParametersMap &amp;parameters=ParametersMap())</td></tr>
static <a class="el" href="classrtabmap_1_1Feature2D.html">Feature2D</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>create</b> (<a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> type, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
<tr class="memdesc:ab9deec7c0e26722736aeeaeb5541ac3a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates a detector of the given <code>type</code>. Caller owns the pointer. <br /></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>Feature2D</b> (const ParametersMap &amp;parameters=ParametersMap())</td></tr>
&#160;</td><td class="memItemRight" valign="bottom"><b>Feature2D</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Abstract 2D feature detector and descriptor extractor for visual SLAM. </p>
<p>Factory <a class="el" href="classrtabmap_1_1Feature2D.html#a58ac3dff96e882f0e4bbbf8a8ffc435d">create()</a> builds a concrete detector from <a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Type</a> or from <b>Kp/DetectorStrategy</b> in a ParametersMap. Common tuning keys include <b>Kp/MaxFeatures</b>, <b>Kp/GridRows</b>, <b>Kp/GridCols</b>, <b>Kp/SSC</b>, depth filters (<b>Kp/MinDepth</b>, <b>Kp/MaxDepth</b>), ROI (<b>Kp/RoiRatios</b>), and sub-pixel refinement.</p>
<p>Factory <a class="el" href="classrtabmap_1_1Feature2D.html#a58ac3dff96e882f0e4bbbf8a8ffc435d">create()</a> builds a concrete detector from <a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Type</a> or from <b>Kp/DetectorStrategy</b> in a <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>. Common tuning keys include <b>Kp/MaxFeatures</b>, <b>Kp/GridRows</b>, <b>Kp/GridCols</b>, <b>Kp/SSC</b>, depth filters (<b>Kp/MinDepth</b>, <b>Kp/MaxDepth</b>), ROI (<b>Kp/RoiRatios</b>), and sub-pixel refinement.</p>
<p>Pipeline: <a class="el" href="classrtabmap_1_1Feature2D.html#a78d70d2150b42203ffd1c94d79661248">generateKeypoints()</a> (grid + ROI + optional mask) then <a class="el" href="classrtabmap_1_1Feature2D.html#abaca942668ac3d2f16d3e78797ff0fb9">generateDescriptors()</a>. Static helpers filter or cap keypoints before/after matching. <a class="el" href="classrtabmap_1_1Feature2D.html#ae01a548fe993a7aa309cce96645693ce">generateKeypoints3D()</a> projects features using stereo or depth when available in <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a>.</p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1Memory.html" title="Three-tiered memory management (STM, WM, LTM) for RTAB-Map.">Memory</a> </dd>
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