Class FreakVisualPipeline¶
Defined in File visual-pipeline-freak.h
Inheritance Relationships¶
Base Type¶
public aslam::VisualPipeline
(Class VisualPipeline)
Class Documentation¶
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class aslam::FreakVisualPipeline : public aslam::VisualPipeline¶
A visual pipeline to extract Freak features.
Public Functions
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ASLAM_POINTER_TYPEDEFS(FreakVisualPipeline)¶
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ASLAM_DISALLOW_EVIL_CONSTRUCTORS(FreakVisualPipeline)¶
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FreakVisualPipeline(const Camera::ConstPtr &camera, bool copy_images, size_t num_octaves, int hessian_threshold, int num_octave_layers, bool rotation_invariant, bool scale_invariant, float pattern_scale)¶
Initialize the surf/freak pipeline with a camera.
- Parameters
camera – [in] The intrinsic calibration of this camera.
copy_images – [in] Should we deep copy the images passed in?
num_octaves – [in] Number of octaves for surf/freak scale computation.
hessian_threshold – [in] Threshold for hessian keypoint detector used in SURF.
num_octave_layers – [in] Number of octave layers within each octave.
rotation_invariant – [in] Should surf/freak compute the keypoint orientation?
scale_invariant – [in] Should freak estimate the keypoint scale?
pattern_scale – [in] Scale of the pattern for the freak feature descriptor.
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FreakVisualPipeline(std::unique_ptr<Undistorter> &preprocessing, bool copy_images, size_t num_octaves, int hessian_threshold, int num_octave_layers, bool rotation_invariant, bool scale_invariant, float pattern_scale)¶
Initialize the surf/freak 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?
num_octaves – [in] Number of octaves for surf/freak scale computation.
hessian_threshold – [in] Threshold for hessian keypoint detector used in SURF.
num_octave_layers – [in] Number of octave layers within each octave.
rotation_invariant – [in] Should surf/freak compute the keypoint orientation?
scale_invariant – [in] Should freak estimate the keypoint scale?
pattern_scale – [in] Scale of the pattern for the freak feature descriptor.
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virtual ~FreakVisualPipeline()¶
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void initializeFreak(size_t num_octaves, int hessian_threshold, int num_octave_layers, bool rotation_invariant, bool scale_invariant, float pattern_scale)¶
Initialize the freak pipeline.
- Parameters
num_octaves – [in] Number of octaves for surf/freak scale computation.
hessian_threshold – [in] Threshold for hessian keypoint detector used in SURF.
num_octave_layers – [in] Number of octave layers within each octave.
rotation_invariant – [in] Should surf/freak compute the keypoint orientation?
scale_invariant – [in] Should freak estimate the keypoint scale?
pattern_scale – [in] Scale of the pattern for the freak feature descriptor.
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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
Protected Functions
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FreakVisualPipeline()¶
Constructor for serialization.
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ASLAM_POINTER_TYPEDEFS(FreakVisualPipeline)¶