ORBextractor

Extracts ORB features from images using an octree-based distribution. More...

Collaboration diagram for ORBextractor:

Public Member Functions
	ORBextractor (uint04 nfeatures, float scaleFactor, uint04 nlevels, uint04 iniThFAST, uint04 minThFAST)
	Constructs the ORB extractor.
uint04	extract (cv::InputArray _image, PrimitiveAlignedBuffer< cv::KeyPoint, 32 > &_keypoints, cv::OutputArray _descriptors, const Vector< 2, uint04 > vLappingArea)
	Extracts ORB features and descriptors from an image.
fltp04	GetScaleFactor ()
	Returns the inter-level scale factor.
const Buffer< float > &	inverseScaleFactors ()
	Returns the inverse scale factor per pyramid level.
const Buffer< float > &	inverseScaleSigmaSquares ()
	Returns the inverse sigma squared per pyramid level.
uint04	levelCount ()
	Returns the number of pyramid levels.
const Buffer< float > &	scaleFactors ()
	Returns the scale factor per pyramid level.
const Buffer< float > &	scaleSigmaSquares ()
	Returns the sigma squared per pyramid level.

Public Attributes
Buffer< cv::Mat >	mvImagePyramid
	Image pyramid for multi-scale extraction.

Detailed Description

Extracts ORB features from images using an octree-based distribution.

Computes ORB keypoints and descriptors at multiple scale levels, distributing keypoints evenly across the image using a quadtree.

Definition at line 40 of file ORBextractor.h.

Constructor & Destructor Documentation

ORBextractor()

ORBextractor::ORBextractor	(	uint04	nfeatures,
		float	scaleFactor,
		uint04	nlevels,
		uint04	iniThFAST,
		uint04	minThFAST )

Constructs the ORB extractor.

Parameters

[in]	nfeatures	Target number of features to extract.
[in]	scaleFactor	Scale factor between pyramid levels.
[in]	nlevels	Number of pyramid levels.
[in]	iniThFAST	Initial FAST threshold.
[in]	minThFAST	Minimum FAST threshold (fallback).

Member Function Documentation

extract()

uint04 ORBextractor::extract	(	cv::InputArray	_image,
		PrimitiveAlignedBuffer< cv::KeyPoint, 32 > &	_keypoints,
		cv::OutputArray	_descriptors,
		const Vector< 2, uint04 >	vLappingArea )

Extracts ORB features and descriptors from an image.

Parameters

[in]	_image	Input image.
[out]	_keypoints	Extracted keypoints.
[out]	_descriptors	Computed descriptors.
[in]	vLappingArea	Stereo lapping area boundaries.

Returns

Number of mono (non-lapping) keypoints.

GetScaleFactor()

fltp04 ORBextractor::GetScaleFactor ( )

inline

Returns the inter-level scale factor.

Returns

The scale factor.

Definition at line 75 of file ORBextractor.h.

inverseScaleFactors()

const Buffer< float > & ORBextractor::inverseScaleFactors ( )

inline

Returns the inverse scale factor per pyramid level.

Returns

Reference to the inverse scale factor buffer.

Definition at line 85 of file ORBextractor.h.

inverseScaleSigmaSquares()

const Buffer< float > & ORBextractor::inverseScaleSigmaSquares ( )

inline

Returns the inverse sigma squared per pyramid level.

Returns

Reference to the inverse level sigma squared buffer.

Definition at line 95 of file ORBextractor.h.

levelCount()

uint04 ORBextractor::levelCount ( )

inline

Returns the number of pyramid levels.

Returns

Level count.

Definition at line 70 of file ORBextractor.h.

scaleFactors()

const Buffer< float > & ORBextractor::scaleFactors ( )

inline

Returns the scale factor per pyramid level.

Returns

Reference to the scale factor buffer.

Definition at line 80 of file ORBextractor.h.

scaleSigmaSquares()

const Buffer< float > & ORBextractor::scaleSigmaSquares ( )

inline

Returns the sigma squared per pyramid level.

Returns

Reference to the level sigma squared buffer.

Definition at line 90 of file ORBextractor.h.

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The documentation for this class was generated from the following file:

• OrbSLAM/Headers/ORBextractor.h