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improving features2d tests

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matlabbe
2026-06-03 22:55:23 -07:00
parent 06dfe92d02
commit cb50b6f21b
6 changed files with 508 additions and 105 deletions
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corelib/include/rtabmap/core/Features2d.h
+16
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@@ -270,6 +270,15 @@ public:
virtual const ParametersMap & getParameters() const {return parameters_;}
virtual Feature2D::Type getType() const = 0;
/** @brief Returns true when a GPU/CUDA code path **could** be used by
* this detector on this host: i.e. the build was compiled with the
* matching GPU support AND a CUDA-capable device is detected at
* runtime. This is a capability probe -- it does NOT reflect whether
* the current instance is actually configured to run on GPU (that
* depends on per-detector parameters like SURF/GpuVersion). Defaults
* to false; subclasses with a GPU backend override it. */
virtual bool isGpuAvailable() const {return false;}
protected:
Feature2D(const ParametersMap & parameters = ParametersMap());
@@ -302,6 +311,7 @@ public:
virtual void parseParameters(const ParametersMap & parameters);
virtual Feature2D::Type getType() const {return kFeatureSurf;}
virtual bool isGpuAvailable() const override;
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
@@ -329,6 +339,7 @@ public:
virtual void parseParameters(const ParametersMap & parameters);
virtual Feature2D::Type getType() const {return kFeatureSift;}
virtual bool isGpuAvailable() const override;
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
@@ -363,6 +374,7 @@ public:
virtual void parseParameters(const ParametersMap & parameters);
virtual Feature2D::Type getType() const {return kFeatureOrb;}
virtual bool isGpuAvailable() const override;
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
@@ -394,6 +406,7 @@ public:
virtual void parseParameters(const ParametersMap & parameters);
virtual Feature2D::Type getType() const {return kFeatureUndef;}
virtual bool isGpuAvailable() const override;
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
@@ -470,6 +483,7 @@ public:
virtual ~GFTT();
virtual void parseParameters(const ParametersMap & parameters);
virtual bool isGpuAvailable() const override;
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
@@ -650,6 +664,7 @@ public:
virtual void parseParameters(const ParametersMap & parameters);
virtual Feature2D::Type getType() const { return kFeatureSuperPointTorch; }
virtual bool isGpuAvailable() const override;
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());
@@ -673,6 +688,7 @@ public:
virtual void parseParameters(const ParametersMap & parameters);
virtual Feature2D::Type getType() const { return kFeatureSuperPointRpautrat; }
virtual bool isGpuAvailable() const override;
private:
virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat());