NASA Astrobee Robot Software  0.19.1
Flight software for the Astrobee robots operating inside the International Space Station.
Public Member Functions | Protected Member Functions | Protected Attributes | Static Protected Attributes | List of all members
interest_point::BriskScaleSpace Class Reference

Public Member Functions

 BriskScaleSpace (int _octaves=3)
 
 ~BriskScaleSpace ()
 
void constructPyramid (const cv::Mat &image)
 
void getKeypoints (const int _threshold, std::vector< cv::KeyPoint > &keypoints)
 

Protected Member Functions

bool isMax2D (const int layer, const int x_layer, const int y_layer)
 
float refine1D (const float s_05, const float s0, const float s05, float &max) const
 
float refine1D_1 (const float s_05, const float s0, const float s05, float &max) const
 
float refine1D_2 (const float s_05, const float s0, const float s05, float &max) const
 
float subpixel2D (const int s_0_0, const int s_0_1, const int s_0_2, const int s_1_0, const int s_1_1, const int s_1_2, const int s_2_0, const int s_2_1, const int s_2_2, float &delta_x, float &delta_y) const
 
float refine3D (const int layer, const int x_layer, const int y_layer, float &x, float &y, float &scale, bool &ismax) const
 
int getScoreAbove (const int layer, const int x_layer, const int y_layer) const
 
int getScoreBelow (const int layer, const int x_layer, const int y_layer) const
 
float getScoreMaxAbove (const int layer, const int x_layer, const int y_layer, const int threshold, bool &ismax, float &dx, float &dy) const
 
float getScoreMaxBelow (const int layer, const int x_layer, const int y_layer, const int threshold, bool &ismax, float &dx, float &dy) const
 

Protected Attributes

int layers_
 
std::vector< BriskLayer > pyramid_
 

Static Protected Attributes

static const float safetyFactor_ = 1.0f
 
static const float basicSize_ = 12.0f
 

Constructor & Destructor Documentation

◆ BriskScaleSpace()

interest_point::BriskScaleSpace::BriskScaleSpace ( int  _octaves = 3)

◆ ~BriskScaleSpace()

interest_point::BriskScaleSpace::~BriskScaleSpace ( )

Member Function Documentation

◆ constructPyramid()

void interest_point::BriskScaleSpace::constructPyramid ( const cv::Mat &  image)

◆ getKeypoints()

void interest_point::BriskScaleSpace::getKeypoints ( const int  _threshold,
std::vector< cv::KeyPoint > &  keypoints 
)

◆ getScoreAbove()

int interest_point::BriskScaleSpace::getScoreAbove ( const int  layer,
const int  x_layer,
const int  y_layer 
) const
inlineprotected

◆ getScoreBelow()

int interest_point::BriskScaleSpace::getScoreBelow ( const int  layer,
const int  x_layer,
const int  y_layer 
) const
inlineprotected

◆ getScoreMaxAbove()

float interest_point::BriskScaleSpace::getScoreMaxAbove ( const int  layer,
const int  x_layer,
const int  y_layer,
const int  threshold,
bool &  ismax,
float &  dx,
float &  dy 
) const
inlineprotected

◆ getScoreMaxBelow()

float interest_point::BriskScaleSpace::getScoreMaxBelow ( const int  layer,
const int  x_layer,
const int  y_layer,
const int  threshold,
bool &  ismax,
float &  dx,
float &  dy 
) const
inlineprotected

◆ isMax2D()

bool interest_point::BriskScaleSpace::isMax2D ( const int  layer,
const int  x_layer,
const int  y_layer 
)
inlineprotected

◆ refine1D()

float interest_point::BriskScaleSpace::refine1D ( const float  s_05,
const float  s0,
const float  s05,
float &  max 
) const
inlineprotected

◆ refine1D_1()

float interest_point::BriskScaleSpace::refine1D_1 ( const float  s_05,
const float  s0,
const float  s05,
float &  max 
) const
inlineprotected

◆ refine1D_2()

float interest_point::BriskScaleSpace::refine1D_2 ( const float  s_05,
const float  s0,
const float  s05,
float &  max 
) const
inlineprotected

◆ refine3D()

float interest_point::BriskScaleSpace::refine3D ( const int  layer,
const int  x_layer,
const int  y_layer,
float &  x,
float &  y,
float &  scale,
bool &  ismax 
) const
inlineprotected

◆ subpixel2D()

float interest_point::BriskScaleSpace::subpixel2D ( const int  s_0_0,
const int  s_0_1,
const int  s_0_2,
const int  s_1_0,
const int  s_1_1,
const int  s_1_2,
const int  s_2_0,
const int  s_2_1,
const int  s_2_2,
float &  delta_x,
float &  delta_y 
) const
inlineprotected

Member Data Documentation

◆ basicSize_

const float interest_point::BriskScaleSpace::basicSize_ = 12.0f
staticprotected

◆ layers_

int interest_point::BriskScaleSpace::layers_
protected

◆ pyramid_

std::vector<BriskLayer> interest_point::BriskScaleSpace::pyramid_
protected

◆ safetyFactor_

const float interest_point::BriskScaleSpace::safetyFactor_ = 1.0f
staticprotected
The documentation for this class was generated from the following file: