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100 lines
3.9 KiB
C++
100 lines
3.9 KiB
C++
/**
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* File from OpenCV (see License below), modified by Mathieu Labbe 2016
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*/
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef CORELIB_SRC_OPENCV_ORB_H_
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#define CORELIB_SRC_OPENCV_ORB_H_
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#include <opencv2/features2d/features2d.hpp>
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namespace rtabmap {
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class FAST;
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/*!
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ORB implementation.
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*/
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class CV_ORB : public cv::Feature2D
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{
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public:
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// the size of the signature in bytes
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enum { kBytes = 32, HARRIS_SCORE=0, FAST_SCORE=1 };
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CV_WRAP explicit CV_ORB(int nfeatures = 500, float scaleFactor = 1.2f, int nlevels = 8, int edgeThreshold = 31,
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int firstLevel = 0, int WTA_K=2, int scoreType=CV_ORB::HARRIS_SCORE, int patchSize=31, const ParametersMap & fastParameters=ParametersMap());
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// returns the descriptor size in bytes
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int descriptorSize() const;
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// returns the descriptor type
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int descriptorType() const;
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// Compute the ORB features and descriptors on an image
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void operator()(cv::InputArray image, cv::InputArray mask, std::vector<cv::KeyPoint>& keypoints) const;
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// Compute the ORB features and descriptors on an image
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void operator()( cv::InputArray image, cv::InputArray mask, std::vector<cv::KeyPoint>& keypoints,
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cv::OutputArray descriptors, bool useProvidedKeypoints=false ) const;
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protected:
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void computeImpl( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, cv::Mat& descriptors ) const;
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void detectImpl( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, const cv::Mat& mask=cv::Mat() ) const;
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CV_PROP_RW int nfeatures;
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CV_PROP_RW double scaleFactor;
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CV_PROP_RW int nlevels;
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CV_PROP_RW int edgeThreshold;
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CV_PROP_RW int firstLevel;
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CV_PROP_RW int WTA_K;
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CV_PROP_RW int scoreType;
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CV_PROP_RW int patchSize;
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ParametersMap fastParameters;
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};
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}
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#endif /* CORELIB_SRC_OPENCV_ORB_H_ */
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