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
[in] camera
: The intrinsic calibration of this camera.[in] copy_images
: Should we deep copy the images passed in?[in] num_octaves
: Number of octaves for surf/freak scale computation.[in] hessian_threshold
: Threshold for hessian keypoint detector used in SURF.[in] num_octave_layers
: Number of octave layers within each octave.[in] rotation_invariant
: Should surf/freak compute the keypoint orientation?[in] scale_invariant
: Should freak estimate the keypoint scale?[in] pattern_scale
: 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
[in] preprocessing
: An undistorter to do preprocessing such as contrast enhancement or undistortion.[in] copy_images
: Should we deep copy the images passed in?[in] num_octaves
: Number of octaves for surf/freak scale computation.[in] hessian_threshold
: Threshold for hessian keypoint detector used in SURF.[in] num_octave_layers
: Number of octave layers within each octave.[in] rotation_invariant
: Should surf/freak compute the keypoint orientation?[in] scale_invariant
: Should freak estimate the keypoint scale?[in] pattern_scale
: 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
[in] num_octaves
: Number of octaves for surf/freak scale computation.[in] hessian_threshold
: Threshold for hessian keypoint detector used in SURF.[in] num_octave_layers
: Number of octave layers within each octave.[in] rotation_invariant
: Should surf/freak compute the keypoint orientation?[in] scale_invariant
: Should freak estimate the keypoint scale?[in] pattern_scale
: 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
[in] image
: The image data.
Protected Functions
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FreakVisualPipeline
()¶ Constructor for serialization.
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