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Added Features2D tests

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matlabbe
2026-05-17 17:47:13 -07:00
parent 9a8b99f361
commit a9cc4fcebf
3 changed files with 391 additions and 20 deletions
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corelib/include/rtabmap/core/Features2d.h
+47 -20
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@@ -111,9 +111,26 @@ class Stereo;
class CV_ORB;
#endif
// Feature2D
/**
* @class Feature2D
* @brief Abstract 2D feature detector and descriptor extractor for visual SLAM.
*
* Factory @ref create() builds a concrete detector from @ref Type or from
* **Kp/DetectorStrategy** in a @ref ParametersMap. Common tuning keys include
* **Kp/MaxFeatures**, **Kp/GridRows**, **Kp/GridCols**, **Kp/SSC**, depth filters
* (**Kp/MinDepth**, **Kp/MaxDepth**), ROI (**Kp/RoiRatios**), and sub-pixel refinement.
*
* Pipeline: @ref generateKeypoints() (grid + ROI + optional mask) then
* @ref generateDescriptors(). Static helpers filter or cap keypoints before/after
* matching. @ref generateKeypoints3D() projects features using stereo or depth when
* available in @ref SensorData.
*
* @see Memory
* @see RegistrationVis
*/
class RTABMAP_CORE_EXPORT Feature2D {
public:
/** @brief Built-in detector/descriptor strategy (Kp/DetectorStrategy). */
enum Type {kFeatureUndef=-1,
kFeatureSurf=0,
kFeatureSift=1,
@@ -133,6 +150,7 @@ public:
kFeaturePyDetector=15, //new 0.20.8
kFeatureSuperPointRpautrat=16}; // new 0.23.3
/** @return Human-readable name for @p type (e.g. `"ORB"`, `"GFTT+BRIEF"`). */
static std::string typeName(Type type)
{
switch(type){
@@ -173,9 +191,12 @@ public:
}
}
/** @brief Creates a detector from **Kp/DetectorStrategy** in @p parameters. Caller owns the pointer. */
static Feature2D * create(const ParametersMap & parameters = ParametersMap());
static Feature2D * create(Feature2D::Type type, const ParametersMap & parameters = ParametersMap()); // for convenience
/** @brief Creates a detector of the given @p type. Caller owns the pointer. */
static Feature2D * create(Feature2D::Type type, const ParametersMap & parameters = ParametersMap());
/** @brief Keeps keypoints whose depth at (u,v) is in (@p minDepth, @p maxDepth). */
static void filterKeypointsByDepth(
std::vector<cv::KeyPoint> & keypoints,
const cv::Mat & depth,
@@ -194,6 +215,7 @@ public:
float minDepth,
float maxDepth);
/** @brief Keeps keypoints with stereo disparity ≥ @p minDisparity. */
static void filterKeypointsByDisparity(
std::vector<cv::KeyPoint> & keypoints,
const cv::Mat & disparity,
@@ -204,12 +226,14 @@ public:
const cv::Mat & disparity,
float minDisparity);
/** @brief Reduces keypoint count (by response or SSC spatial distribution). */
static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, int maxKeypoints, const cv::Size & imageSize = cv::Size(), bool ssc = false);
static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, cv::Mat & descriptors, int maxKeypoints, const cv::Size & imageSize = cv::Size(), bool ssc = false);
static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & keypoints3D, cv::Mat & descriptors, int maxKeypoints, const cv::Size & imageSize = cv::Size(), bool ssc = false);
static void limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, std::vector<bool> & inliers, int maxKeypoints, const cv::Size & imageSize = cv::Size(), bool ssc = false);
static void limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, std::vector<bool> & inliers, int maxKeypoints, const cv::Size & imageSize, int gridRows, int gridCols, bool ssc = false);
/** @brief ROI from **Kp/RoiRatios** string (`"left top right bottom"` fractions). */
static cv::Rect computeRoi(const cv::Mat & image, const std::string & roiRatios);
static cv::Rect computeRoi(const cv::Mat & image, const std::vector<float> & roiRatios);
@@ -223,12 +247,15 @@ public:
public:
virtual ~Feature2D();
/** @brief Detects keypoints in a grayscale @p image (CV_8UC1); optional depth or 8U mask. */
std::vector<cv::KeyPoint> generateKeypoints(
const cv::Mat & image,
const cv::Mat & mask = cv::Mat());
/** @brief Computes descriptors for @p keypoints (may shrink the list in some detectors). */
cv::Mat generateDescriptors(
const cv::Mat & image,
std::vector<cv::KeyPoint> & keypoints) const;
/** @brief Back-projects keypoints to 3D using depth or stereo in @p data. */
std::vector<cv::Point3f> generateKeypoints3D(
const SensorData & data,
const std::vector<cv::KeyPoint> & keypoints) const;
@@ -260,7 +287,7 @@ private:
Stereo * _stereo;
};
//SURF
/** @brief SURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build). */
class RTABMAP_CORE_EXPORT SURF : public Feature2D
{
public:
@@ -287,7 +314,7 @@ private:
cv::Ptr<CV_SURF_GPU> _gpuSurf;
};
//SIFT
/** @brief SIFT detector and descriptor (optional GPU / CudaSift). */
class RTABMAP_CORE_EXPORT SIFT : public Feature2D
{
public:
@@ -321,7 +348,7 @@ private:
bool cudaSiftUpscaling_;
};
//ORB
/** @brief ORB detector and descriptor (optional GPU). */
class RTABMAP_CORE_EXPORT ORB : public Feature2D
{
public:
@@ -352,7 +379,7 @@ private:
cv::Ptr<CV_ORB_GPU> _gpuOrb;
};
//FAST
/** @brief FAST corner detector only (no descriptor). */
class RTABMAP_CORE_EXPORT FAST : public Feature2D
{
public:
@@ -388,7 +415,7 @@ private:
cv::Ptr<CV_FAST_GPU> _gpuFast;
};
//FAST_BRIEF
/** @brief FAST corners + BRIEF descriptors. */
class RTABMAP_CORE_EXPORT FAST_BRIEF : public FAST
{
public:
@@ -407,7 +434,7 @@ private:
cv::Ptr<CV_BRIEF> _brief;
};
//FAST_FREAK
/** @brief FAST corners + FREAK descriptors. */
class RTABMAP_CORE_EXPORT FAST_FREAK : public FAST
{
public:
@@ -429,7 +456,7 @@ private:
cv::Ptr<CV_FREAK> _freak;
};
//GFTT
/** @brief Good-features-to-track detector (Shi–Tomasi / Harris). */
class RTABMAP_CORE_EXPORT GFTT : public Feature2D
{
public:
@@ -453,7 +480,7 @@ private:
cv::Ptr<CV_GFTT_GPU> _gpuGftt;
};
//GFTT_BRIEF
/** @brief GFTT corners + BRIEF descriptors. */
class RTABMAP_CORE_EXPORT GFTT_BRIEF : public GFTT
{
public:
@@ -472,7 +499,7 @@ private:
cv::Ptr<CV_BRIEF> _brief;
};
//GFTT_FREAK
/** @brief GFTT corners + FREAK descriptors. */
class RTABMAP_CORE_EXPORT GFTT_FREAK : public GFTT
{
public:
@@ -494,7 +521,7 @@ private:
cv::Ptr<CV_FREAK> _freak;
};
//SURF_FREAK
/** @brief SURF detector + FREAK descriptors. */
class RTABMAP_CORE_EXPORT SURF_FREAK : public SURF
{
public:
@@ -516,7 +543,7 @@ private:
cv::Ptr<CV_FREAK> _freak;
};
//GFTT_ORB
/** @brief GFTT corners + ORB descriptors (common default when SURF is unavailable). */
class RTABMAP_CORE_EXPORT GFTT_ORB : public GFTT
{
public:
@@ -533,7 +560,7 @@ private:
ORB _orb;
};
//BRISK
/** @brief BRISK detector and descriptor. */
class RTABMAP_CORE_EXPORT BRISK : public Feature2D
{
public:
@@ -555,7 +582,7 @@ private:
cv::Ptr<CV_BRISK> brisk_;
};
//KAZE
/** @brief KAZE detector and descriptor (OpenCV 3+). */
class RTABMAP_CORE_EXPORT KAZE : public Feature2D
{
public:
@@ -582,7 +609,7 @@ private:
#endif
};
//ORB OCTREE
/** @brief ORB with octree spatial distribution (RTAB-Map must be built with OCTREE enabled). */
class RTABMAP_CORE_EXPORT ORBOctree : public Feature2D
{
public:
@@ -608,7 +635,7 @@ private:
cv::Mat descriptors_;
};
//SuperPointTorch
/** @brief SuperPoint via LibTorch (RTAB-Map must be built with libtorch support). */
class RTABMAP_CORE_EXPORT SuperPointTorch : public Feature2D
{
public:
@@ -631,7 +658,7 @@ private:
bool cuda_;
};
//SuperPointRpautrat
/** @brief SuperPoint (rpautrat) via Torch + Python (RTAB-Map must be built with libtorch and Python support). */
class RTABMAP_CORE_EXPORT SuperPointRpautrat : public Feature2D
{
public:
@@ -656,7 +683,7 @@ private:
bool cuda_;
};
//GFTT_DAISY
/** @brief GFTT corners + DAISY descriptors (OpenCV 3+ xfeatures2d). */
class RTABMAP_CORE_EXPORT GFTT_DAISY : public GFTT
{
public:
@@ -680,7 +707,7 @@ private:
#endif
};
//SURF_DAISY
/** @brief SURF detector + DAISY descriptors (OpenCV 3+ xfeatures2d). */
class RTABMAP_CORE_EXPORT SURF_DAISY : public SURF
{
public: