Class BriskVisualPipeline¶
Defined in File visual-pipeline-brisk.h
Inheritance Relationships¶
Base Type¶
public aslam::VisualPipeline
(Class VisualPipeline)
Class Documentation¶
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class aslam::BriskVisualPipeline : public aslam::VisualPipeline¶
A visual pipeline to extract Brisk features.
Public Functions
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ASLAM_POINTER_TYPEDEFS(BriskVisualPipeline)¶
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ASLAM_DISALLOW_EVIL_CONSTRUCTORS(BriskVisualPipeline)¶
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BriskVisualPipeline(const Camera::ConstPtr &camera, bool copy_images, size_t octaves, double uniformity_radius, double absolute_threshold, size_t max_number_of_keypoints, bool rotation_invariant, bool scale_invariant)¶
Initialize the brisk pipeline with a camera.
- Parameters
camera – [in] The intrinsic calibration of this camera.
copy_images – [in] Should we deep copy the images passed in?
octaves – [in] Number of octaves for BRISK scale computation.
uniformity_radius – [in] Gets multiplied on the keypoint scale and determines the distance to the next neighboring keypoint.
absolute_threshold – [in] The brisk absolute threshold. Low makes more keypoints.
max_number_of_keypoints – [in] The maximum number of keypoints to return.
rotation_invariant – [in] Should Brisk estimate the keypoint orientation?
scale_invariant – [in] Should Brisk estimate the keypoint scale?
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BriskVisualPipeline(std::unique_ptr<Undistorter> &preprocessing, bool copy_images, size_t octaves, double uniformity_radius, double absolute_threshold, size_t max_number_of_keypoints, bool rotation_invariant, bool scale_invariant)¶
Initialize the brisk pipeline with a preprocessing pipeline.
- Parameters
preprocessing – [in] An undistorter to do preprocessing such as contrast enhancement or undistortion.
copy_images – [in] Should we deep copy the images passed in?
octaves – [in] Number of octaves for BRISK scale computation.
uniformity_radius – [in] Gets multiplied on the keypoint scale and determines the distance to the next neighboring keypoint.
absolute_threshold – [in] The Brisk absolute threshold. Low makes more keypoints.
max_number_of_keypoints – [in] The maximum number of keypoints to return.
rotation_invariant – [in] Should brisk estimate the keypoint orientation?
scale_invariant – [in] Should Brisk estimate the keypoint scale?
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virtual ~BriskVisualPipeline()¶
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void initializeBrisk(size_t octaves, double uniformity_radius, double absolute_threshold, size_t max_number_of_keypoints, bool rotation_invariant, bool scale_invariant)¶
Initialize the brisk pipeline.
- Parameters
octaves – [in] Number of octaves for BRISK scale computation.
uniformity_radius – [in] Gets multiplied on the keypoint scale and determines the distance to the next neighboring keypoint.
absolute_threshold – [in] The brisk absolute threshold. Low makes more keypoints.
max_number_of_keypoints – [in] The maximum number of keypoints to return.
rotation_invariant – [in] Should Brisk estimate the keypoint orientation?
scale_invariant – [in] Should Brisk estimate the keypoint scale?
Protected Functions
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BriskVisualPipeline()¶
Constructor for serialization.
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virtual void processFrameImpl(const cv::Mat &image, VisualFrame *frame) const¶
Process the frame and fill the results into the frame variable.
The top level function will already fill in the timestamps and the output camera.
- Parameters
image – [in] The image data.
- Param
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ASLAM_POINTER_TYPEDEFS(BriskVisualPipeline)¶