mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 00:57:46 +08:00
Preview for PR #1492 25b41788677116f6905c26584214a5e014292ec9
This commit is contained in:
@@ -0,0 +1,343 @@
|
||||
<!-- HTML header for doxygen 1.9.8-->
|
||||
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
||||
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
|
||||
<head>
|
||||
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
||||
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
|
||||
<meta name="generator" content="Doxygen 1.9.8"/>
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1"/>
|
||||
<title>RTAB-Map: rtabmap::SuperPointTorch Class Reference</title>
|
||||
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
||||
<script type="text/javascript" src="jquery.js"></script>
|
||||
<script type="text/javascript" src="dynsections.js"></script>
|
||||
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
||||
<script type="text/javascript" src="search/searchdata.js"></script>
|
||||
<script type="text/javascript" src="search/search.js"></script>
|
||||
<link href="doxygen.css" rel="stylesheet" type="text/css" />
|
||||
<script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
|
||||
<script type="text/javascript" src="../versions.js"></script>
|
||||
<script type="text/javascript" src="version-switcher.js"></script>
|
||||
</head>
|
||||
<body>
|
||||
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
|
||||
<div id="titlearea">
|
||||
<table cellspacing="0" cellpadding="0">
|
||||
<tbody>
|
||||
<tr id="projectrow">
|
||||
<td id="projectalign">
|
||||
<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
|
||||
</div>
|
||||
</td>
|
||||
</tr>
|
||||
</tbody>
|
||||
</table>
|
||||
</div>
|
||||
<!-- end header part -->
|
||||
<!-- Generated by Doxygen 1.9.8 -->
|
||||
<script type="text/javascript">
|
||||
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
||||
var searchBox = new SearchBox("searchBox", "search/",'.html');
|
||||
/* @license-end */
|
||||
</script>
|
||||
<script type="text/javascript" src="menudata.js"></script>
|
||||
<script type="text/javascript" src="menu.js"></script>
|
||||
<script type="text/javascript">
|
||||
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
||||
$(function() {
|
||||
initMenu('',true,false,'search.php','Search');
|
||||
$(document).ready(function() { init_search(); });
|
||||
});
|
||||
/* @license-end */
|
||||
</script>
|
||||
<div id="main-nav"></div>
|
||||
<!-- window showing the filter options -->
|
||||
<div id="MSearchSelectWindow"
|
||||
onmouseover="return searchBox.OnSearchSelectShow()"
|
||||
onmouseout="return searchBox.OnSearchSelectHide()"
|
||||
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
||||
</div>
|
||||
|
||||
<!-- iframe showing the search results (closed by default) -->
|
||||
<div id="MSearchResultsWindow">
|
||||
<div id="MSearchResults">
|
||||
<div class="SRPage">
|
||||
<div id="SRIndex">
|
||||
<div id="SRResults"></div>
|
||||
<div class="SRStatus" id="Loading">Loading...</div>
|
||||
<div class="SRStatus" id="Searching">Searching...</div>
|
||||
<div class="SRStatus" id="NoMatches">No Matches</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<div id="nav-path" class="navpath">
|
||||
<ul>
|
||||
<li class="navelem"><a class="el" href="namespacertabmap.html">rtabmap</a></li><li class="navelem"><a class="el" href="classrtabmap_1_1SuperPointTorch.html">SuperPointTorch</a></li> </ul>
|
||||
</div>
|
||||
</div><!-- top -->
|
||||
<div class="header">
|
||||
<div class="summary">
|
||||
<a href="#pub-methods">Public Member Functions</a> |
|
||||
<a href="classrtabmap_1_1SuperPointTorch-members.html">List of all members</a> </div>
|
||||
<div class="headertitle"><div class="title">rtabmap::SuperPointTorch Class Reference</div></div>
|
||||
</div><!--header-->
|
||||
<div class="contents">
|
||||
|
||||
<p>SuperPoint via LibTorch (RTAB-Map must be built with libtorch support).
|
||||
<a href="classrtabmap_1_1SuperPointTorch.html#details">More...</a></p>
|
||||
|
||||
<p><code>#include <<a class="el" href="Features2d_8h_source.html">Features2d.h</a>></code></p>
|
||||
<div class="dynheader">
|
||||
Inheritance diagram for rtabmap::SuperPointTorch:</div>
|
||||
<div class="dyncontent">
|
||||
<div class="center"><img src="classrtabmap_1_1SuperPointTorch__inherit__graph.png" border="0" usemap="#artabmap_1_1SuperPointTorch_inherit__map" alt="Inheritance graph"/></div>
|
||||
<map name="artabmap_1_1SuperPointTorch_inherit__map" id="artabmap_1_1SuperPointTorch_inherit__map">
|
||||
<area shape="rect" title="SuperPoint via LibTorch (RTAB-Map must be built with libtorch support)." alt="" coords="5,79,195,104"/>
|
||||
<area shape="rect" href="classrtabmap_1_1Feature2D.html" title="Abstract 2D feature detector and descriptor extractor for visual SLAM." alt="" coords="24,5,176,31"/>
|
||||
<area shape="poly" title=" " alt="" coords="103,44,103,79,97,79,97,44"/>
|
||||
</map>
|
||||
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
|
||||
<div class="dynheader">
|
||||
Collaboration diagram for rtabmap::SuperPointTorch:</div>
|
||||
<div class="dyncontent">
|
||||
<div class="center"><img src="classrtabmap_1_1SuperPointTorch__coll__graph.png" border="0" usemap="#artabmap_1_1SuperPointTorch_coll__map" alt="Collaboration graph"/></div>
|
||||
<map name="artabmap_1_1SuperPointTorch_coll__map" id="artabmap_1_1SuperPointTorch_coll__map">
|
||||
<area shape="rect" title="SuperPoint via LibTorch (RTAB-Map must be built with libtorch support)." alt="" coords="5,79,195,104"/>
|
||||
<area shape="rect" href="classrtabmap_1_1Feature2D.html" title="Abstract 2D feature detector and descriptor extractor for visual SLAM." alt="" coords="24,5,176,31"/>
|
||||
<area shape="poly" title=" " alt="" coords="103,44,103,79,97,79,97,44"/>
|
||||
</map>
|
||||
<center><span class="legend">[<a href="graph_legend.html">legend</a>]</span></center></div>
|
||||
<table class="memberdecls">
|
||||
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
|
||||
Public Member Functions</h2></td></tr>
|
||||
<tr class="memitem:a55d1a6e2a91c1ea2fb44748a7a5c2572" id="r_a55d1a6e2a91c1ea2fb44748a7a5c2572"><td class="memItemLeft" align="right" valign="top"><a id="a55d1a6e2a91c1ea2fb44748a7a5c2572" name="a55d1a6e2a91c1ea2fb44748a7a5c2572"></a>
|
||||
 </td><td class="memItemRight" valign="bottom"><b>SuperPointTorch</b> (const ParametersMap &parameters=ParametersMap())</td></tr>
|
||||
<tr class="separator:a55d1a6e2a91c1ea2fb44748a7a5c2572"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a651c3bc9b5f4b91d6552157e10b09504" id="r_a651c3bc9b5f4b91d6552157e10b09504"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SuperPointTorch.html#a651c3bc9b5f4b91d6552157e10b09504">parseParameters</a> (const ParametersMap &parameters) override</td></tr>
|
||||
<tr class="separator:a651c3bc9b5f4b91d6552157e10b09504"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a5042d3a178919f16c18395cf754480ba" id="r_a5042d3a178919f16c18395cf754480ba"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SuperPointTorch.html#a5042d3a178919f16c18395cf754480ba">getType</a> () const override</td></tr>
|
||||
<tr class="separator:a5042d3a178919f16c18395cf754480ba"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:aee69f6089f657449d3813b440abbaa25" id="r_aee69f6089f657449d3813b440abbaa25"><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SuperPointTorch.html#aee69f6089f657449d3813b440abbaa25">isGpuAvailable</a> () const override</td></tr>
|
||||
<tr class="memdesc:aee69f6089f657449d3813b440abbaa25"><td class="mdescLeft"> </td><td class="mdescRight">Returns true when a GPU/CUDA code path <b>could</b> 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. <br /></td></tr>
|
||||
<tr class="separator:aee69f6089f657449d3813b440abbaa25"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="inherit_header pub_methods_classrtabmap_1_1Feature2D"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classrtabmap_1_1Feature2D')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classrtabmap_1_1Feature2D.html">rtabmap::Feature2D</a></td></tr>
|
||||
<tr class="memitem:aefcc5503f62c875b061a11171c82ebf6 inherit pub_methods_classrtabmap_1_1Feature2D" id="r_aefcc5503f62c875b061a11171c82ebf6"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Feature2D.html#aefcc5503f62c875b061a11171c82ebf6">getMaxFeatures</a> () const</td></tr>
|
||||
<tr class="separator:aefcc5503f62c875b061a11171c82ebf6 inherit pub_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:ae6fff7ef38ac404f371daca34960d365 inherit pub_methods_classrtabmap_1_1Feature2D" id="r_ae6fff7ef38ac404f371daca34960d365"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Feature2D.html#ae6fff7ef38ac404f371daca34960d365">getSSC</a> () const</td></tr>
|
||||
<tr class="separator:ae6fff7ef38ac404f371daca34960d365 inherit pub_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:abae817ba195bace21531febe0ee8e76e inherit pub_methods_classrtabmap_1_1Feature2D" id="r_abae817ba195bace21531febe0ee8e76e"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Feature2D.html#abae817ba195bace21531febe0ee8e76e">getMinDepth</a> () const</td></tr>
|
||||
<tr class="separator:abae817ba195bace21531febe0ee8e76e inherit pub_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a1f8cee3995f02d65fe093a2e5ede7db7 inherit pub_methods_classrtabmap_1_1Feature2D" id="r_a1f8cee3995f02d65fe093a2e5ede7db7"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Feature2D.html#a1f8cee3995f02d65fe093a2e5ede7db7">getMaxDepth</a> () const</td></tr>
|
||||
<tr class="separator:a1f8cee3995f02d65fe093a2e5ede7db7 inherit pub_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:ac8a91e9df9c43e0f87f3a02f6a21db34 inherit pub_methods_classrtabmap_1_1Feature2D" id="r_ac8a91e9df9c43e0f87f3a02f6a21db34"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Feature2D.html#ac8a91e9df9c43e0f87f3a02f6a21db34">getGridRows</a> () const</td></tr>
|
||||
<tr class="separator:ac8a91e9df9c43e0f87f3a02f6a21db34 inherit pub_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a04c6e4b63641d379aa227a06bd9e1084 inherit pub_methods_classrtabmap_1_1Feature2D" id="r_a04c6e4b63641d379aa227a06bd9e1084"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Feature2D.html#a04c6e4b63641d379aa227a06bd9e1084">getGridCols</a> () const</td></tr>
|
||||
<tr class="separator:a04c6e4b63641d379aa227a06bd9e1084 inherit pub_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a78d70d2150b42203ffd1c94d79661248 inherit pub_methods_classrtabmap_1_1Feature2D" id="r_a78d70d2150b42203ffd1c94d79661248"><td class="memItemLeft" align="right" valign="top">
|
||||
std::vector< cv::KeyPoint > </td><td class="memItemRight" valign="bottom"><b>generateKeypoints</b> (const cv::Mat &image, const cv::Mat &mask=cv::Mat())</td></tr>
|
||||
<tr class="memdesc:a78d70d2150b42203ffd1c94d79661248 inherit pub_methods_classrtabmap_1_1Feature2D"><td class="mdescLeft"> </td><td class="mdescRight">Detects keypoints in a grayscale <code>image</code> (CV_8UC1); optional depth or 8U mask. <br /></td></tr>
|
||||
<tr class="separator:a78d70d2150b42203ffd1c94d79661248 inherit pub_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:abaca942668ac3d2f16d3e78797ff0fb9 inherit pub_methods_classrtabmap_1_1Feature2D" id="r_abaca942668ac3d2f16d3e78797ff0fb9"><td class="memItemLeft" align="right" valign="top">
|
||||
cv::Mat </td><td class="memItemRight" valign="bottom"><b>generateDescriptors</b> (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const</td></tr>
|
||||
<tr class="memdesc:abaca942668ac3d2f16d3e78797ff0fb9 inherit pub_methods_classrtabmap_1_1Feature2D"><td class="mdescLeft"> </td><td class="mdescRight">Computes descriptors for <code>keypoints</code> (may shrink the list in some detectors). <br /></td></tr>
|
||||
<tr class="separator:abaca942668ac3d2f16d3e78797ff0fb9 inherit pub_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:ae01a548fe993a7aa309cce96645693ce inherit pub_methods_classrtabmap_1_1Feature2D" id="r_ae01a548fe993a7aa309cce96645693ce"><td class="memItemLeft" align="right" valign="top">
|
||||
std::vector< cv::Point3f > </td><td class="memItemRight" valign="bottom"><b>generateKeypoints3D</b> (const <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> &data, const std::vector< cv::KeyPoint > &keypoints) const</td></tr>
|
||||
<tr class="memdesc:ae01a548fe993a7aa309cce96645693ce inherit pub_methods_classrtabmap_1_1Feature2D"><td class="mdescLeft"> </td><td class="mdescRight">Back-projects keypoints to 3D using depth or stereo in <code>data</code>. <br /></td></tr>
|
||||
<tr class="separator:ae01a548fe993a7aa309cce96645693ce inherit pub_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a9c52665128219cb0e923febe2b25c852 inherit pub_methods_classrtabmap_1_1Feature2D" id="r_a9c52665128219cb0e923febe2b25c852"><td class="memItemLeft" align="right" valign="top">virtual const ParametersMap & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Feature2D.html#a9c52665128219cb0e923febe2b25c852">getParameters</a> () const</td></tr>
|
||||
<tr class="separator:a9c52665128219cb0e923febe2b25c852 inherit pub_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
</table><table class="memberdecls">
|
||||
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
|
||||
Additional Inherited Members</h2></td></tr>
|
||||
<tr class="inherit_header pub_types_classrtabmap_1_1Feature2D"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classrtabmap_1_1Feature2D')"><img src="closed.png" alt="-"/> Public Types inherited from <a class="el" href="classrtabmap_1_1Feature2D.html">rtabmap::Feature2D</a></td></tr>
|
||||
<tr class="memitem:a7453189891e489bbcff1f2c971d04fde inherit pub_types_classrtabmap_1_1Feature2D" id="r_a7453189891e489bbcff1f2c971d04fde"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Type</a> { <br />
|
||||
  <b>kFeatureUndef</b> =-1
|
||||
, <b>kFeatureSurf</b> =0
|
||||
, <b>kFeatureSift</b> =1
|
||||
, <b>kFeatureOrb</b> =2
|
||||
, <br />
|
||||
  <b>kFeatureFastFreak</b> =3
|
||||
, <b>kFeatureFastBrief</b> =4
|
||||
, <b>kFeatureGfttFreak</b> =5
|
||||
, <b>kFeatureGfttBrief</b> =6
|
||||
, <br />
|
||||
  <b>kFeatureBrisk</b> =7
|
||||
, <b>kFeatureGfttOrb</b> =8
|
||||
, <b>kFeatureKaze</b> =9
|
||||
, <b>kFeatureOrbOctree</b> =10
|
||||
, <br />
|
||||
  <b>kFeatureSuperPointTorch</b> =11
|
||||
, <b>kFeatureSurfFreak</b> =12
|
||||
, <b>kFeatureGfttDaisy</b> =13
|
||||
, <b>kFeatureSurfDaisy</b> =14
|
||||
, <br />
|
||||
  <b>kFeaturePyDetector</b> =15
|
||||
, <b>kFeatureSuperPointRpautrat</b> =16
|
||||
, <b>kFeatureEnd</b>
|
||||
<br />
|
||||
}</td></tr>
|
||||
<tr class="memdesc:a7453189891e489bbcff1f2c971d04fde"><td class="mdescLeft"> </td><td class="mdescRight">Built-in detector/descriptor strategy (Kp/DetectorStrategy). <a href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">More...</a><br /></td></tr>
|
||||
<tr class="separator:a7453189891e489bbcff1f2c971d04fde inherit pub_types_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="inherit_header pub_static_methods_classrtabmap_1_1Feature2D"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classrtabmap_1_1Feature2D')"><img src="closed.png" alt="-"/> Static Public Member Functions inherited from <a class="el" href="classrtabmap_1_1Feature2D.html">rtabmap::Feature2D</a></td></tr>
|
||||
<tr class="memitem:a98050ef4da598e5b35bc32317bc58b84 inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_a98050ef4da598e5b35bc32317bc58b84"><td class="memItemLeft" align="right" valign="top">static std::string </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>
|
||||
<tr class="separator:a98050ef4da598e5b35bc32317bc58b84 inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a58ac3dff96e882f0e4bbbf8a8ffc435d inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_a58ac3dff96e882f0e4bbbf8a8ffc435d"><td class="memItemLeft" align="right" valign="top">
|
||||
static <a class="el" href="classrtabmap_1_1Feature2D.html">Feature2D</a> * </td><td class="memItemRight" valign="bottom"><b>create</b> (const ParametersMap &parameters=ParametersMap())</td></tr>
|
||||
<tr class="memdesc:a58ac3dff96e882f0e4bbbf8a8ffc435d inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="mdescLeft"> </td><td class="mdescRight">Creates a detector from <b>Kp/DetectorStrategy</b> in <code>parameters</code>. Caller owns the pointer. <br /></td></tr>
|
||||
<tr class="separator:a58ac3dff96e882f0e4bbbf8a8ffc435d inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:ab9deec7c0e26722736aeeaeb5541ac3a inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_ab9deec7c0e26722736aeeaeb5541ac3a"><td class="memItemLeft" align="right" valign="top">
|
||||
static <a class="el" href="classrtabmap_1_1Feature2D.html">Feature2D</a> * </td><td class="memItemRight" valign="bottom"><b>create</b> (<a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> type, const ParametersMap &parameters=ParametersMap())</td></tr>
|
||||
<tr class="memdesc:ab9deec7c0e26722736aeeaeb5541ac3a inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="mdescLeft"> </td><td class="mdescRight">Creates a detector of the given <code>type</code>. Caller owns the pointer. <br /></td></tr>
|
||||
<tr class="separator:ab9deec7c0e26722736aeeaeb5541ac3a inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a6020550480c25d36f0b4255629e75ee2 inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_a6020550480c25d36f0b4255629e75ee2"><td class="memItemLeft" align="right" valign="top">
|
||||
static bool </td><td class="memItemRight" valign="bottom"><b>isAvailable</b> (<a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> type)</td></tr>
|
||||
<tr class="memdesc:a6020550480c25d36f0b4255629e75ee2 inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="mdescLeft"> </td><td class="mdescRight">Returns true if <code>type</code> is available (RTAB-Map is built with it). <br /></td></tr>
|
||||
<tr class="separator:a6020550480c25d36f0b4255629e75ee2 inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:aadbb5a7611eb94ea6925115999bc0f4e inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_aadbb5a7611eb94ea6925115999bc0f4e"><td class="memItemLeft" align="right" valign="top">
|
||||
static void </td><td class="memItemRight" valign="bottom"><b>filterKeypointsByDepth</b> (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)</td></tr>
|
||||
<tr class="memdesc:aadbb5a7611eb94ea6925115999bc0f4e inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="mdescLeft"> </td><td class="mdescRight">Keeps keypoints whose depth at (u,v) is in (<code>minDepth</code>, <code>maxDepth</code>). <br /></td></tr>
|
||||
<tr class="separator:aadbb5a7611eb94ea6925115999bc0f4e inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a52e47fa8c16e76b07bb1b5b5f62ef544 inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_a52e47fa8c16e76b07bb1b5b5f62ef544"><td class="memItemLeft" align="right" valign="top">
|
||||
static void </td><td class="memItemRight" valign="bottom"><b>filterKeypointsByDepth</b> (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)</td></tr>
|
||||
<tr class="separator:a52e47fa8c16e76b07bb1b5b5f62ef544 inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:af6a47b5afb6c5f7232dde3f209467498 inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_af6a47b5afb6c5f7232dde3f209467498"><td class="memItemLeft" align="right" valign="top">
|
||||
static void </td><td class="memItemRight" valign="bottom"><b>filterKeypointsByDepth</b> (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)</td></tr>
|
||||
<tr class="separator:af6a47b5afb6c5f7232dde3f209467498 inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a32fa09026282be6a729483bfe57d31ec inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_a32fa09026282be6a729483bfe57d31ec"><td class="memItemLeft" align="right" valign="top">
|
||||
static void </td><td class="memItemRight" valign="bottom"><b>filterKeypointsByDisparity</b> (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)</td></tr>
|
||||
<tr class="memdesc:a32fa09026282be6a729483bfe57d31ec inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="mdescLeft"> </td><td class="mdescRight">Keeps keypoints with stereo disparity ≥ <code>minDisparity</code>. <br /></td></tr>
|
||||
<tr class="separator:a32fa09026282be6a729483bfe57d31ec inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:afc2ca7b0b852514c24af8667faee8163 inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_afc2ca7b0b852514c24af8667faee8163"><td class="memItemLeft" align="right" valign="top">
|
||||
static void </td><td class="memItemRight" valign="bottom"><b>filterKeypointsByDisparity</b> (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)</td></tr>
|
||||
<tr class="separator:afc2ca7b0b852514c24af8667faee8163 inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:aa5c0258ede589769bc50c6d6071d595c inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_aa5c0258ede589769bc50c6d6071d595c"><td class="memItemLeft" align="right" valign="top">
|
||||
static void </td><td class="memItemRight" valign="bottom"><b>limitKeypoints</b> (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)</td></tr>
|
||||
<tr class="memdesc:aa5c0258ede589769bc50c6d6071d595c inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="mdescLeft"> </td><td class="mdescRight">Reduces keypoint count (by response or SSC spatial distribution). <br /></td></tr>
|
||||
<tr class="separator:aa5c0258ede589769bc50c6d6071d595c inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:aba0cc0c4da22671572421b9f3f2d43a4 inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_aba0cc0c4da22671572421b9f3f2d43a4"><td class="memItemLeft" align="right" valign="top">
|
||||
static void </td><td class="memItemRight" valign="bottom"><b>limitKeypoints</b> (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)</td></tr>
|
||||
<tr class="separator:aba0cc0c4da22671572421b9f3f2d43a4 inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a87afad19a8c82d27ba2996d7f9fde198 inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_a87afad19a8c82d27ba2996d7f9fde198"><td class="memItemLeft" align="right" valign="top">
|
||||
static void </td><td class="memItemRight" valign="bottom"><b>limitKeypoints</b> (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)</td></tr>
|
||||
<tr class="separator:a87afad19a8c82d27ba2996d7f9fde198 inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:ad53a028d97f969424afea055405782be inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_ad53a028d97f969424afea055405782be"><td class="memItemLeft" align="right" valign="top">
|
||||
static void </td><td class="memItemRight" valign="bottom"><b>limitKeypoints</b> (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)</td></tr>
|
||||
<tr class="separator:ad53a028d97f969424afea055405782be inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a3960ad23c8ccd412590311c5fe27b6e1 inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_a3960ad23c8ccd412590311c5fe27b6e1"><td class="memItemLeft" align="right" valign="top">
|
||||
static void </td><td class="memItemRight" valign="bottom"><b>limitKeypoints</b> (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)</td></tr>
|
||||
<tr class="separator:a3960ad23c8ccd412590311c5fe27b6e1 inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a8bdfa57df68506fecb6342b9f5bc98e8 inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_a8bdfa57df68506fecb6342b9f5bc98e8"><td class="memItemLeft" align="right" valign="top">
|
||||
static cv::Rect </td><td class="memItemRight" valign="bottom"><b>computeRoi</b> (const cv::Mat &image, const std::string &roiRatios)</td></tr>
|
||||
<tr class="memdesc:a8bdfa57df68506fecb6342b9f5bc98e8 inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="mdescLeft"> </td><td class="mdescRight">ROI from <b>Kp/RoiRatios</b> string (<code>"left top right bottom"</code> fractions). <br /></td></tr>
|
||||
<tr class="separator:a8bdfa57df68506fecb6342b9f5bc98e8 inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="memitem:a50e780ed12538f575f340d8347274bea inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_a50e780ed12538f575f340d8347274bea"><td class="memItemLeft" align="right" valign="top">
|
||||
static cv::Rect </td><td class="memItemRight" valign="bottom"><b>computeRoi</b> (const cv::Mat &image, const std::vector< float > &roiRatios)</td></tr>
|
||||
<tr class="separator:a50e780ed12538f575f340d8347274bea inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
<tr class="inherit_header pro_methods_classrtabmap_1_1Feature2D"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classrtabmap_1_1Feature2D')"><img src="closed.png" alt="-"/> Protected Member Functions inherited from <a class="el" href="classrtabmap_1_1Feature2D.html">rtabmap::Feature2D</a></td></tr>
|
||||
<tr class="memitem:a698973e11d04dcd87ed15f61c328facd inherit pro_methods_classrtabmap_1_1Feature2D" id="r_a698973e11d04dcd87ed15f61c328facd"><td class="memItemLeft" align="right" valign="top">
|
||||
 </td><td class="memItemRight" valign="bottom"><b>Feature2D</b> (const ParametersMap &parameters=ParametersMap())</td></tr>
|
||||
<tr class="separator:a698973e11d04dcd87ed15f61c328facd inherit pro_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2"> </td></tr>
|
||||
</table>
|
||||
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
||||
<div class="textblock"><p>SuperPoint via LibTorch (RTAB-Map must be built with libtorch support). </p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="Features2d_8h_source.html#l00673">673</a> of file <a class="el" href="Features2d_8h_source.html">Features2d.h</a>.</p>
|
||||
</div><h2 class="groupheader">Member Function Documentation</h2>
|
||||
<a id="a651c3bc9b5f4b91d6552157e10b09504" name="a651c3bc9b5f4b91d6552157e10b09504"></a>
|
||||
<h2 class="memtitle"><span class="permalink"><a href="#a651c3bc9b5f4b91d6552157e10b09504">◆ </a></span>parseParameters()</h2>
|
||||
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="mlabels">
|
||||
<tr>
|
||||
<td class="mlabels-left">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">virtual void rtabmap::SuperPointTorch::parseParameters </td>
|
||||
<td>(</td>
|
||||
<td class="paramtype">const ParametersMap & </td>
|
||||
<td class="paramname"><em>parameters</em></td><td>)</td>
|
||||
<td></td>
|
||||
</tr>
|
||||
</table>
|
||||
</td>
|
||||
<td class="mlabels-right">
|
||||
<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Reimplemented from <a class="el" href="classrtabmap_1_1Feature2D.html">rtabmap::Feature2D</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a id="a5042d3a178919f16c18395cf754480ba" name="a5042d3a178919f16c18395cf754480ba"></a>
|
||||
<h2 class="memtitle"><span class="permalink"><a href="#a5042d3a178919f16c18395cf754480ba">◆ </a></span>getType()</h2>
|
||||
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="mlabels">
|
||||
<tr>
|
||||
<td class="mlabels-left">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">virtual <a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> rtabmap::SuperPointTorch::getType </td>
|
||||
<td>(</td>
|
||||
<td class="paramname"></td><td>)</td>
|
||||
<td> const</td>
|
||||
</tr>
|
||||
</table>
|
||||
</td>
|
||||
<td class="mlabels-right">
|
||||
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Implements <a class="el" href="classrtabmap_1_1Feature2D.html">rtabmap::Feature2D</a>.</p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="Features2d_8h_source.html#l00680">680</a> of file <a class="el" href="Features2d_8h_source.html">Features2d.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a id="aee69f6089f657449d3813b440abbaa25" name="aee69f6089f657449d3813b440abbaa25"></a>
|
||||
<h2 class="memtitle"><span class="permalink"><a href="#aee69f6089f657449d3813b440abbaa25">◆ </a></span>isGpuAvailable()</h2>
|
||||
|
||||
<div class="memitem">
|
||||
<div class="memproto">
|
||||
<table class="mlabels">
|
||||
<tr>
|
||||
<td class="mlabels-left">
|
||||
<table class="memname">
|
||||
<tr>
|
||||
<td class="memname">virtual bool rtabmap::SuperPointTorch::isGpuAvailable </td>
|
||||
<td>(</td>
|
||||
<td class="paramname"></td><td>)</td>
|
||||
<td> const</td>
|
||||
</tr>
|
||||
</table>
|
||||
</td>
|
||||
<td class="mlabels-right">
|
||||
<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Returns true when a GPU/CUDA code path <b>could</b> 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. </p>
|
||||
|
||||
<p>Reimplemented from <a class="el" href="classrtabmap_1_1Feature2D.html#a8d330b2b7db059f59c257cde6c9b6a99">rtabmap::Feature2D</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<hr/>The documentation for this class was generated from the following file:<ul>
|
||||
<li>corelib/include/rtabmap/core/<a class="el" href="Features2d_8h_source.html">Features2d.h</a></li>
|
||||
</ul>
|
||||
</div><!-- contents -->
|
||||
<!-- start footer part -->
|
||||
<hr class="footer"/><address class="footer"><small>
|
||||
Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
|
||||
</small></address>
|
||||
</body>
|
||||
</html>
|
||||
Reference in New Issue
Block a user