ORB_SLAM2::ORBextractor Class Reference

Public Types
enum	{ HARRIS_SCORE =0, FAST_SCORE =1 }

Public Member Functions
	ORBextractor (int nfeatures, float scaleFactor, int nlevels, int iniThFAST, int minThFAST)
void	operator() (cv::InputArray image, cv::InputArray mask, std::vector< cv::KeyPoint > &keypoints, cv::OutputArray descriptors)
int	GetLevels ()
float	GetScaleFactor ()
std::vector< float >	GetScaleFactors ()
std::vector< float >	GetInverseScaleFactors ()
std::vector< float >	GetScaleSigmaSquares ()
std::vector< float >	GetInverseScaleSigmaSquares ()

Public Attributes
std::vector< cv::Mat >	mvImagePyramid

Protected Member Functions
void	ComputePyramid (cv::Mat image)
void	ComputeKeyPointsOctTree (std::vector< std::vector< cv::KeyPoint > > &allKeypoints)
std::vector< cv::KeyPoint >	DistributeOctTree (const std::vector< cv::KeyPoint > &vToDistributeKeys, const int &minX, const int &maxX, const int &minY, const int &maxY, const int &nFeatures, const int &level)
void	ComputeKeyPointsOld (std::vector< std::vector< cv::KeyPoint > > &allKeypoints)

Protected Attributes
std::vector< cv::Point >	pattern
int	nfeatures
double	scaleFactor
int	nlevels
int	iniThFAST
int	minThFAST
std::vector< int >	mnFeaturesPerLevel
std::vector< int >	umax
std::vector< float >	mvScaleFactor
std::vector< float >	mvInvScaleFactor
std::vector< float >	mvLevelSigma2
std::vector< float >	mvInvLevelSigma2

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

• /home/yubao/data/catkin_ws/src/ORB_SLAM2/include/ORBextractor.h
• /home/yubao/data/catkin_ws/src/ORB_SLAM2/src/ORBextractor.cpp