upm::BAD Class Reference

#include <BAD.h>

Inheritance diagram for upm::BAD:

Classes
struct	BoxPairParams

Public Types
enum	BadSize { SIZE_512_BITS = 100, SIZE_256_BITS = 101 }
	Descriptor number of bits, each bit is a weak-descriptor. The user can choose between 512 or 256 bits. More...

Public Member Functions
	BAD (float scale_factor=1.0f, BadSize n_bits=SIZE_512_BITS)
void	compute (cv::InputArray image, CV_OUT CV_IN_OUT std::vector< cv::KeyPoint > &keypoints, cv::OutputArray descriptors) override
	Computes the descriptors for a set of keypoints detected in an image (first variant) or image set (second variant). More...
int	descriptorSize () const override
int	descriptorType () const override
int	defaultNorm () const override
bool	empty () const override
cv::String	getDefaultName () const override

Static Public Member Functions
static cv::Ptr< BAD >	create (float scale_factor=1.0f, BadSize n_bits=SIZE_512_BITS)
	Creates the BAD descriptor. More...

Protected Member Functions
void	computeBAD (const cv::Mat &integral_img, const std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors)

Protected Attributes
std::vector< float >	thresholds_
std::vector< BoxPairParams >	box_params_
float	scale_factor_ = 1
cv::Size	patch_size_ = {32, 32}

Detailed Description

Implementation of the Box Average Difference (BAD) descriptor. The method uses features computed from the difference of the average gray values of two boxes in the patch.

Each pair of boxes is represented with a BoxPairParams struct. After obtaining the feature from them, the i'th feature is thresholded with thresholds_[i], producing the binary weak-descriptor.

Member Enumeration Documentation

BadSize

enum upm::BAD::BadSize

Descriptor number of bits, each bit is a weak-descriptor. The user can choose between 512 or 256 bits.

Enumerator
SIZE_512_BITS
SIZE_256_BITS

Constructor & Destructor Documentation

BAD()

upm::BAD::BAD ( float  scale_factor = 1.0f, BadSize  n_bits = SIZE_512_BITS  )

explicit

Parameters

scale_factor	Adjust the sampling window around detected keypoints: 1.00f should be the scale for ORB keypoints 6.75f should be the scale for SIFT detected keypoints 6.25f is default and fits for KAZE, SURF detected keypoints 5.00f should be the scale for AKAZE, MSD, AGAST, FAST, BRISK keypoints
n_bits	Determine the number of bits in the descriptor. Should be either BAD::SIZE_512_BITS or BAD::SIZE_256_BITS.

Member Function Documentation

compute()

void upm::BAD::compute ( cv::InputArray  image, CV_OUT CV_IN_OUT std::vector< cv::KeyPoint > &  keypoints, cv::OutputArray  descriptors  )

override

Computes the descriptors for a set of keypoints detected in an image (first variant) or image set (second variant).

Parameters

image	Image.
keypoints	Input collection of keypoints. Keypoints for which a descriptor cannot be computed are removed. Sometimes new keypoints can be added, for example: SIFT duplicates keypoint with several dominant orientations (for each orientation).
descriptors	Computed descriptors. In the second variant of the method descriptors[i] are descriptors computed for a keypoints[i]. Row j is the keypoints (or keypoints[i]) is the descriptor for keypoint j-th keypoint.

computeBAD()

void upm::BAD::computeBAD ( const cv::Mat &  integral_img, const std::vector< cv::KeyPoint > &  keypoints, cv::Mat &  descriptors  )

protected

create()

static cv::Ptr<BAD> upm::BAD::create ( float  scale_factor = 1.0f, BadSize  n_bits = SIZE_512_BITS  )

inlinestatic

Creates the BAD descriptor.

Parameters

scale_factor	Adjust the sampling window around detected keypoints: 1.00f should be the scale for ORB keypoints 6.75f should be the scale for SIFT detected keypoints 6.25f is default and fits for KAZE, SURF detected keypoints 5.00f should be the scale for AKAZE, MSD, AGAST, FAST, BRISK keypoints
n_bits

Returns

defaultNorm()

int upm::BAD::defaultNorm ( ) const

inlineoverride

descriptorSize()

int upm::BAD::descriptorSize ( ) const

inlineoverride

descriptorType()

int upm::BAD::descriptorType ( ) const

inlineoverride

empty()

bool upm::BAD::empty ( ) const

inlineoverride

getDefaultName()

cv::String upm::BAD::getDefaultName ( ) const

inlineoverride

Member Data Documentation

box_params_

std::vector<BoxPairParams> upm::BAD::box_params_

protected

patch_size_

cv::Size upm::BAD::patch_size_ = {32, 32}

protected

scale_factor_

float upm::BAD::scale_factor_ = 1

protected

thresholds_

std::vector<float> upm::BAD::thresholds_

protected

---

The documentation for this class was generated from the following files:

• localization/interest_point/include/interest_point/BAD.h
• localization/interest_point/src/BAD.cpp