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<a href="#pub-methods">Public Member Functions</a> &#124;
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<p><a class="el" href="classrtabmap_1_1GFTT.html" title="Good-features-to-track detector (Shi–Tomasi / Harris).">GFTT</a> corners + FREAK descriptors.
<a href="classrtabmap_1_1GFTT__FREAK.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="Features2d_8h_source.html">Features2d.h</a>&gt;</code></p>
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Inheritance diagram for rtabmap::GFTT_FREAK:</div>
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Collaboration diagram for rtabmap::GFTT_FREAK:</div>
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<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:a9ac2bc4d8566bc149ef518da40f4ec91" id="r_a9ac2bc4d8566bc149ef518da40f4ec91"><td class="memItemLeft" align="right" valign="top"><a id="a9ac2bc4d8566bc149ef518da40f4ec91" name="a9ac2bc4d8566bc149ef518da40f4ec91"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>GFTT_FREAK</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="separator:a9ac2bc4d8566bc149ef518da40f4ec91"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a81dced882f435341eb7045d8e091447c" id="r_a81dced882f435341eb7045d8e091447c"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GFTT__FREAK.html#a81dced882f435341eb7045d8e091447c">parseParameters</a> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;parameters) override</td></tr>
<tr class="separator:a81dced882f435341eb7045d8e091447c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7f3a22ebbc5a086dd9a2219062edcd9c" id="r_a7f3a22ebbc5a086dd9a2219062edcd9c"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GFTT__FREAK.html#a7f3a22ebbc5a086dd9a2219062edcd9c">getType</a> () const override</td></tr>
<tr class="separator:a7f3a22ebbc5a086dd9a2219062edcd9c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classrtabmap_1_1GFTT"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classrtabmap_1_1GFTT')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classrtabmap_1_1GFTT.html">rtabmap::GFTT</a></td></tr>
<tr class="memitem:a396f7d80122496a6a79a8edd52beeb52 inherit pub_methods_classrtabmap_1_1GFTT" id="r_a396f7d80122496a6a79a8edd52beeb52"><td class="memItemLeft" align="right" valign="top">
&#160;</td><td class="memItemRight" valign="bottom"><b>GFTT</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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<tr class="memitem:a05151f04cf624576783837dc48ddf744 inherit pub_methods_classrtabmap_1_1GFTT" id="r_a05151f04cf624576783837dc48ddf744"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GFTT.html#a05151f04cf624576783837dc48ddf744">isGpuAvailable</a> () const override</td></tr>
<tr class="memdesc:a05151f04cf624576783837dc48ddf744 inherit pub_methods_classrtabmap_1_1GFTT"><td class="mdescLeft">&#160;</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 &ndash; 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>
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<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="-"/>&#160;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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Feature2D.html#aefcc5503f62c875b061a11171c82ebf6">getMaxFeatures</a> () const</td></tr>
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<tr class="memitem:ae6fff7ef38ac404f371daca34960d365 inherit pub_methods_classrtabmap_1_1Feature2D" id="r_ae6fff7ef38ac404f371daca34960d365"><td class="memItemLeft" align="right" valign="top">bool&#160;</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">&#160;</td></tr>
<tr class="memitem:abae817ba195bace21531febe0ee8e76e inherit pub_methods_classrtabmap_1_1Feature2D" id="r_abae817ba195bace21531febe0ee8e76e"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Feature2D.html#abae817ba195bace21531febe0ee8e76e">getMinDepth</a> () const</td></tr>
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<tr class="memitem:a1f8cee3995f02d65fe093a2e5ede7db7 inherit pub_methods_classrtabmap_1_1Feature2D" id="r_a1f8cee3995f02d65fe093a2e5ede7db7"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Feature2D.html#a1f8cee3995f02d65fe093a2e5ede7db7">getMaxDepth</a> () const</td></tr>
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<tr class="memitem:ac8a91e9df9c43e0f87f3a02f6a21db34 inherit pub_methods_classrtabmap_1_1Feature2D" id="r_ac8a91e9df9c43e0f87f3a02f6a21db34"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Feature2D.html#ac8a91e9df9c43e0f87f3a02f6a21db34">getGridRows</a> () const</td></tr>
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<tr class="separator:a04c6e4b63641d379aa227a06bd9e1084 inherit pub_methods_classrtabmap_1_1Feature2D"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a78d70d2150b42203ffd1c94d79661248 inherit pub_methods_classrtabmap_1_1Feature2D" id="r_a78d70d2150b42203ffd1c94d79661248"><td class="memItemLeft" align="right" valign="top">
std::vector&lt; cv::KeyPoint &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>generateKeypoints</b> (const cv::Mat &amp;image, const cv::Mat &amp;mask=cv::Mat())</td></tr>
<tr class="memdesc:a78d70d2150b42203ffd1c94d79661248 inherit pub_methods_classrtabmap_1_1Feature2D"><td class="mdescLeft">&#160;</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">&#160;</td></tr>
<tr class="memitem:abaca942668ac3d2f16d3e78797ff0fb9 inherit pub_methods_classrtabmap_1_1Feature2D" id="r_abaca942668ac3d2f16d3e78797ff0fb9"><td class="memItemLeft" align="right" valign="top">
cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><b>generateDescriptors</b> (const cv::Mat &amp;image, std::vector&lt; cv::KeyPoint &gt; &amp;keypoints) const</td></tr>
<tr class="memdesc:abaca942668ac3d2f16d3e78797ff0fb9 inherit pub_methods_classrtabmap_1_1Feature2D"><td class="mdescLeft">&#160;</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">&#160;</td></tr>
<tr class="memitem:ae01a548fe993a7aa309cce96645693ce inherit pub_methods_classrtabmap_1_1Feature2D" id="r_ae01a548fe993a7aa309cce96645693ce"><td class="memItemLeft" align="right" valign="top">
std::vector&lt; cv::Point3f &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>generateKeypoints3D</b> (const <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp;data, const std::vector&lt; cv::KeyPoint &gt; &amp;keypoints) const</td></tr>
<tr class="memdesc:ae01a548fe993a7aa309cce96645693ce inherit pub_methods_classrtabmap_1_1Feature2D"><td class="mdescLeft">&#160;</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">&#160;</td></tr>
<tr class="memitem:a9c52665128219cb0e923febe2b25c852 inherit pub_methods_classrtabmap_1_1Feature2D" id="r_a9c52665128219cb0e923febe2b25c852"><td class="memItemLeft" align="right" valign="top">virtual const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;&#160;</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">&#160;</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="-"/>&#160;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 &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Type</a> { <br />
&#160;&#160;<b>kFeatureUndef</b> =-1
, <b>kFeatureSurf</b> =0
, <b>kFeatureSift</b> =1
, <b>kFeatureOrb</b> =2
, <br />
&#160;&#160;<b>kFeatureFastFreak</b> =3
, <b>kFeatureFastBrief</b> =4
, <b>kFeatureGfttFreak</b> =5
, <b>kFeatureGfttBrief</b> =6
, <br />
&#160;&#160;<b>kFeatureBrisk</b> =7
, <b>kFeatureGfttOrb</b> =8
, <b>kFeatureKaze</b> =9
, <b>kFeatureOrbOctree</b> =10
, <br />
&#160;&#160;<b>kFeatureSuperPointTorch</b> =11
, <b>kFeatureSurfFreak</b> =12
, <b>kFeatureGfttDaisy</b> =13
, <b>kFeatureSurfDaisy</b> =14
, <br />
&#160;&#160;<b>kFeaturePyDetector</b> =15
, <b>kFeatureSuperPointRpautrat</b> =16
, <b>kFeatureEnd</b>
<br />
}</td></tr>
<tr class="memdesc:a7453189891e489bbcff1f2c971d04fde"><td class="mdescLeft">&#160;</td><td class="mdescRight">Built-in detector/descriptor strategy (Kp/DetectorStrategy). <a href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">More...</a><br /></td></tr>
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<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="-"/>&#160;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&#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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<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> *&#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 inherit pub_static_methods_classrtabmap_1_1Feature2D"><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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<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> *&#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 inherit pub_static_methods_classrtabmap_1_1Feature2D"><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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static bool&#160;</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">&#160;</td><td class="mdescRight">Returns true if <code>type</code> is available (RTAB-Map is built with it). <br /></td></tr>
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<tr class="memitem:aadbb5a7611eb94ea6925115999bc0f4e inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_aadbb5a7611eb94ea6925115999bc0f4e"><td class="memItemLeft" align="right" valign="top">
static void&#160;</td><td class="memItemRight" valign="bottom"><b>filterKeypointsByDepth</b> (std::vector&lt; cv::KeyPoint &gt; &amp;keypoints, const cv::Mat &amp;depth, float minDepth, float maxDepth)</td></tr>
<tr class="memdesc:aadbb5a7611eb94ea6925115999bc0f4e inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="mdescLeft">&#160;</td><td class="mdescRight">Keeps keypoints whose depth at (u,v) is in (<code>minDepth</code>, <code>maxDepth</code>). <br /></td></tr>
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static void&#160;</td><td class="memItemRight" valign="bottom"><b>filterKeypointsByDepth</b> (std::vector&lt; cv::KeyPoint &gt; &amp;keypoints, cv::Mat &amp;descriptors, const cv::Mat &amp;depth, float minDepth, float maxDepth)</td></tr>
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static void&#160;</td><td class="memItemRight" valign="bottom"><b>filterKeypointsByDepth</b> (std::vector&lt; cv::KeyPoint &gt; &amp;keypoints, cv::Mat &amp;descriptors, std::vector&lt; cv::Point3f &gt; &amp;keypoints3D, float minDepth, float maxDepth)</td></tr>
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<tr class="memitem:a32fa09026282be6a729483bfe57d31ec inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_a32fa09026282be6a729483bfe57d31ec"><td class="memItemLeft" align="right" valign="top">
static void&#160;</td><td class="memItemRight" valign="bottom"><b>filterKeypointsByDisparity</b> (std::vector&lt; cv::KeyPoint &gt; &amp;keypoints, const cv::Mat &amp;disparity, float minDisparity)</td></tr>
<tr class="memdesc:a32fa09026282be6a729483bfe57d31ec inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="mdescLeft">&#160;</td><td class="mdescRight">Keeps keypoints with stereo disparity ≥ <code>minDisparity</code>. <br /></td></tr>
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<tr class="memitem:afc2ca7b0b852514c24af8667faee8163 inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_afc2ca7b0b852514c24af8667faee8163"><td class="memItemLeft" align="right" valign="top">
static void&#160;</td><td class="memItemRight" valign="bottom"><b>filterKeypointsByDisparity</b> (std::vector&lt; cv::KeyPoint &gt; &amp;keypoints, cv::Mat &amp;descriptors, const cv::Mat &amp;disparity, float minDisparity)</td></tr>
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<tr class="memitem:aa5c0258ede589769bc50c6d6071d595c inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_aa5c0258ede589769bc50c6d6071d595c"><td class="memItemLeft" align="right" valign="top">
static void&#160;</td><td class="memItemRight" valign="bottom"><b>limitKeypoints</b> (std::vector&lt; cv::KeyPoint &gt; &amp;keypoints, int maxKeypoints, const cv::Size &amp;imageSize=cv::Size(), bool ssc=false)</td></tr>
<tr class="memdesc:aa5c0258ede589769bc50c6d6071d595c inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="mdescLeft">&#160;</td><td class="mdescRight">Reduces keypoint count (by response or SSC spatial distribution). <br /></td></tr>
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<tr class="memitem:aba0cc0c4da22671572421b9f3f2d43a4 inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_aba0cc0c4da22671572421b9f3f2d43a4"><td class="memItemLeft" align="right" valign="top">
static void&#160;</td><td class="memItemRight" valign="bottom"><b>limitKeypoints</b> (std::vector&lt; cv::KeyPoint &gt; &amp;keypoints, cv::Mat &amp;descriptors, int maxKeypoints, const cv::Size &amp;imageSize=cv::Size(), bool ssc=false)</td></tr>
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static void&#160;</td><td class="memItemRight" valign="bottom"><b>limitKeypoints</b> (std::vector&lt; cv::KeyPoint &gt; &amp;keypoints, std::vector&lt; cv::Point3f &gt; &amp;keypoints3D, cv::Mat &amp;descriptors, int maxKeypoints, const cv::Size &amp;imageSize=cv::Size(), bool ssc=false)</td></tr>
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<tr class="memitem:ad53a028d97f969424afea055405782be inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_ad53a028d97f969424afea055405782be"><td class="memItemLeft" align="right" valign="top">
static void&#160;</td><td class="memItemRight" valign="bottom"><b>limitKeypoints</b> (const std::vector&lt; cv::KeyPoint &gt; &amp;keypoints, std::vector&lt; bool &gt; &amp;inliers, int maxKeypoints, const cv::Size &amp;imageSize=cv::Size(), bool ssc=false)</td></tr>
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<tr class="memitem:a3960ad23c8ccd412590311c5fe27b6e1 inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_a3960ad23c8ccd412590311c5fe27b6e1"><td class="memItemLeft" align="right" valign="top">
static void&#160;</td><td class="memItemRight" valign="bottom"><b>limitKeypoints</b> (const std::vector&lt; cv::KeyPoint &gt; &amp;keypoints, std::vector&lt; bool &gt; &amp;inliers, int maxKeypoints, const cv::Size &amp;imageSize, int gridRows, int gridCols, bool ssc=false)</td></tr>
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<tr class="memitem:a8bdfa57df68506fecb6342b9f5bc98e8 inherit pub_static_methods_classrtabmap_1_1Feature2D" id="r_a8bdfa57df68506fecb6342b9f5bc98e8"><td class="memItemLeft" align="right" valign="top">
static cv::Rect&#160;</td><td class="memItemRight" valign="bottom"><b>computeRoi</b> (const cv::Mat &amp;image, const std::string &amp;roiRatios)</td></tr>
<tr class="memdesc:a8bdfa57df68506fecb6342b9f5bc98e8 inherit pub_static_methods_classrtabmap_1_1Feature2D"><td class="mdescLeft">&#160;</td><td class="mdescRight">ROI from <b>Kp/RoiRatios</b> string (<code>"left top right bottom"</code> fractions). <br /></td></tr>
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static cv::Rect&#160;</td><td class="memItemRight" valign="bottom"><b>computeRoi</b> (const cv::Mat &amp;image, const std::vector&lt; float &gt; &amp;roiRatios)</td></tr>
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<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="-"/>&#160;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">
&#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><a class="el" href="classrtabmap_1_1GFTT.html" title="Good-features-to-track detector (Shi–Tomasi / Harris).">GFTT</a> corners + FREAK descriptors. </p>
<p class="definition">Definition at line <a class="el" href="Features2d_8h_source.html#l00537">537</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="a81dced882f435341eb7045d8e091447c" name="a81dced882f435341eb7045d8e091447c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a81dced882f435341eb7045d8e091447c">&#9670;&#160;</a></span>parseParameters()</h2>
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<td class="memname">virtual void rtabmap::GFTT_FREAK::parseParameters </td>
<td>(</td>
<td class="paramtype">const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;&#160;</td>
<td class="paramname"><em>parameters</em></td><td>)</td>
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<span class="mlabels"><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
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<p>Reimplemented from <a class="el" href="classrtabmap_1_1GFTT.html">rtabmap::GFTT</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a7f3a22ebbc5a086dd9a2219062edcd9c">&#9670;&#160;</a></span>getType()</h2>
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<td class="memname">virtual <a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> rtabmap::GFTT_FREAK::getType </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
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<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">override</span><span class="mlabel">virtual</span></span> </td>
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<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#l00544">544</a> of file <a class="el" href="Features2d_8h_source.html">Features2d.h</a>.</p>
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<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>
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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_1GFTT__FREAK.html">GFTT_FREAK</a></li>
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