115 lines
3.3 KiB
C
115 lines
3.3 KiB
C
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/**
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* This file is part of ORB-SLAM3
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*
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* Copyright (C) 2017-2021 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
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*
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* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
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* License as published by the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
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* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
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* If not, see <http://www.gnu.org/licenses/>.
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*/
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#ifndef ORBEXTRACTOR_H
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#define ORBEXTRACTOR_H
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#include <vector>
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#include <list>
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#include <opencv2/opencv.hpp>
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namespace ORB_SLAM3
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{
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class ExtractorNode
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{
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public:
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ExtractorNode():bNoMore(false){}
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void DivideNode(ExtractorNode &n1, ExtractorNode &n2, ExtractorNode &n3, ExtractorNode &n4);
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std::vector<cv::KeyPoint> vKeys;
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cv::Point2i UL, UR, BL, BR;
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std::list<ExtractorNode>::iterator lit;
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bool bNoMore;
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};
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class ORBextractor
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{
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public:
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enum {HARRIS_SCORE=0, FAST_SCORE=1 };
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ORBextractor(int nfeatures, float scaleFactor, int nlevels,
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int iniThFAST, int minThFAST);
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~ORBextractor(){}
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// Compute the ORB features and descriptors on an image.
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// ORB are dispersed on the image using an octree.
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// Mask is ignored in the current implementation.
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int operator()( cv::InputArray _image, cv::InputArray _mask,
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std::vector<cv::KeyPoint>& _keypoints,
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cv::OutputArray _descriptors, std::vector<int> &vLappingArea);
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int inline GetLevels(){
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return nlevels;}
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float inline GetScaleFactor(){
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return scaleFactor;}
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std::vector<float> inline GetScaleFactors(){
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return mvScaleFactor;
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}
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std::vector<float> inline GetInverseScaleFactors(){
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return mvInvScaleFactor;
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}
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std::vector<float> inline GetScaleSigmaSquares(){
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return mvLevelSigma2;
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}
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std::vector<float> inline GetInverseScaleSigmaSquares(){
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return mvInvLevelSigma2;
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}
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std::vector<cv::Mat> mvImagePyramid;
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protected:
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void ComputePyramid(cv::Mat image);
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void ComputeKeyPointsOctTree(std::vector<std::vector<cv::KeyPoint> >& allKeypoints);
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std::vector<cv::KeyPoint> DistributeOctTree(const std::vector<cv::KeyPoint>& vToDistributeKeys, const int &minX,
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const int &maxX, const int &minY, const int &maxY, const int &nFeatures, const int &level);
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void ComputeKeyPointsOld(std::vector<std::vector<cv::KeyPoint> >& allKeypoints);
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std::vector<cv::Point> pattern;
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int nfeatures;
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double scaleFactor;
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int nlevels;
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int iniThFAST;
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int minThFAST;
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std::vector<int> mnFeaturesPerLevel;
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std::vector<int> umax;
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std::vector<float> mvScaleFactor;
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std::vector<float> mvInvScaleFactor;
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std::vector<float> mvLevelSigma2;
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std::vector<float> mvInvLevelSigma2;
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};
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} //namespace ORB_SLAM
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#endif
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