ORBFeatureDetector Class Reference

#include <ImFusion/Vision/FeatureDetection.h>

Implementation of the ORB feature detection and description algorithm. More...

Inheritance diagram for ORBFeatureDetector:

Detailed Description

Implementation of the ORB feature detection and description algorithm.

Classes
struct	ORBKeyPointIterator
	Iterator for ORB keypoints, supports multi-level traversal. More...

Public Member Functions
	ORBFeatureDetector ()
	Default constructor.
	~ORBFeatureDetector ()
	Destructor.
std::string	name () const override
	Return name of detector.
std::vector< Keypoint >	detect (SharedImage &img) override
	Detect ORB keypoints in image.
bool	setMaxFeatures (int v) override
	Set maximum number of features.
int	maxFeatures () const override
	Get maximum number of features.
void	setThreshold (double threshold) override
	Set FAST threshold.
double	threshold () const override
	Get FAST threshold.
std::unique_ptr< KeyPointIterator >	initKeypointIterator (const std::vector< Keypoint > &keypoints) override
	Initialize ORB keypoint iterator.
Public Member Functions inherited from FeatureDetectorWithAdaptiveThreshold
	FeatureDetectorWithAdaptiveThreshold ()
	Default constructor.
std::vector< Keypoint >	detectAdaptive (SharedImage &img)
	Runs the detection by iteratively adapting a max number of features and a threshold.
void	configure (const Properties *p) override
	Configure parameters from properties.
Public Member Functions inherited from Configurable
virtual void	configuration (Properties *p) const
	Serialize the current object configuration into the given Properties object.
virtual void	configureDefaults ()
	Retrieve the properties of this object, replaces values with their defaults and sets it again.
void	registerParameter (ParameterBase *param)
	Register the given Parameter or SubProperty, so that it will be configured during configure()/configuration().
void	unregisterParameter (const ParameterBase *param)
	Remove the given Parameter or SubProperty from the list of registered parameters.
	Configurable (const Configurable &rhs)
	Configurable (Configurable &&rhs) noexcept
Configurable &	operator= (const Configurable &)
Configurable &	operator= (Configurable &&) noexcept

Public Attributes
Parameter< int >	p_fastThreshold = {"FAST threshold", 0, this}
	FAST threshold parameter.
Parameter< int >	p_edgeThreshold = {"Edge threshold", 0, this}
	Edge threshold parameter.
Parameter< int >	p_firstLevel = {"First level", 0, this}
	First pyramid level.
Parameter< int >	p_maxFeatures = {"Max features", 0, this}
	Maximum number of features.
Parameter< int >	p_nLevels = {"N levels", 0, this}
	Number of pyramid levels.
Parameter< int >	p_patchSize = {"Patch size", 0, this}
	Patch size for descriptor.
Parameter< double >	p_scaleFactor = {"Scale factor", 0, this}
	Pyramid scale factor.
Parameter< int >	p_scoreType = {"Score type", 0, this}
	Score type parameter.
Parameter< int >	p_wtak = {"WTA K", 0, this}
	WTA_K parameter.
Public Attributes inherited from FeatureDetectorWithAdaptiveThreshold
Parameter< bool >	p_adaptThreshold = {"Iteratively adapt threshold", false, this}
	Enable adaptive threshold.
Parameter< int >	p_cellSize = {"Grid cell size", 100, this}
	Size of grid cell for adaptive threshold.
Parameter< double >	p_minThreshold = {"Minimum threshold", 0.0, this}
	Minimum threshold value.
Parameter< double >	p_thresholdStep = {"Threshold step", 0.0, this}
	Step size for threshold adaptation.
Public Attributes inherited from Configurable
Signal	signalParametersChanged
	Emitted whenever one of the registered Parameters' or SubPropertys' signalValueChanged signal was emitted.

Additional Inherited Members
Protected Attributes inherited from Configurable
std::vector< Param >	m_params
	List of all registered Parameter and SubProperty instances.

Member Function Documentation

name()

std::string name ( ) const

inlineoverridevirtual

Return name of detector.

Implements FeatureDetector.

detect()

std::vector< Keypoint > detect ( SharedImage & img )

overridevirtual

Detect ORB keypoints in image.

Parameters

img	SharedImage to detect features in.

Returns

Vector of detected keypoints.

Implements FeatureDetector.

setMaxFeatures()

bool setMaxFeatures ( int v )

inlineoverridevirtual

Set maximum number of features.

Parameters

v	Maximum number of features.

Returns

Always true.

Implements FeatureDetectorWithAdaptiveThreshold.

maxFeatures()

int maxFeatures ( ) const

inlineoverridevirtual

Get maximum number of features.

Implements FeatureDetectorWithAdaptiveThreshold.

setThreshold()

void setThreshold ( double threshold )

inlineoverridevirtual

Set FAST threshold.

Parameters

threshold

FAST threshold value.

Implements FeatureDetectorWithAdaptiveThreshold.

threshold()

double threshold ( ) const

inlineoverridevirtual

Get FAST threshold.

Implements FeatureDetectorWithAdaptiveThreshold.

initKeypointIterator()

std::unique_ptr< KeyPointIterator > initKeypointIterator ( const std::vector< Keypoint > & keypoints )

inlineoverridevirtual

Initialize ORB keypoint iterator.

Parameters

keypoints

Keypoints to iterate over.

Returns

Unique pointer to ORBKeyPointIterator.

Reimplemented from FeatureDetectorWithAdaptiveThreshold.

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

• ImFusion/Vision/FeatureDetection.h