Detailed Description

A structure containing options for the matching.

Definition at line 309 of file vision/include/mrpt/vision/types.h.

#include <mrpt/vision/types.h>

Inheritance diagram for mrpt::vision::TMatchingOptions:

Public Types
enum	TMatchingMethod { mmCorrelation = 0, mmDescriptorSIFT, mmDescriptorSURF, mmSAD }
	Method for propagating the feature's image coordinate uncertainty into 3D space. More...

Public Member Functions
	TMatchingOptions ()
	Constructor.

void	loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section)
	See utils::CLoadableOptions.

void	dumpToTextStream (CStream &out) const
	See utils::CLoadableOptions.

void	loadFromConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

virtual void	saveToConfigFile (mrpt::utils::CConfigFileBase &source, const std::string &section)
	This method saves the options to a ".ini"-like file or memory-stored string list.

void	saveToConfigFileName (const std::string &config_file, const std::string &section)
	Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

void	dumpToConsole () const
	This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

virtual void	dumpToTextStream (CStream &out) const =0
	This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

Public Attributes
bool	useEpipolarRestriction
	Whether or not take into account the epipolar restriction for finding correspondences.

bool	hasFundamentalMatrix
	Whether or not there is a fundamental matrix.

bool	parallelOpticalAxis
	Whether or not the stereo rig has the optical axes parallel.

bool	useXRestriction
	Whether or not employ the x-coord restriction for finding correspondences (bumblebee camera, for example)

bool	addMatches
	Whether or not to add the matches found into the input matched list (if false the input list will be cleared before being filled with the new matches)

CMatrixDouble33	F

TMatchingMethod	matching_method
	Matching method.

float	epipolar_TH
	Epipolar constraint (rows of pixels)

float	maxEDD_TH
	Maximum Euclidean Distance Between SIFT Descriptors.

float	EDD_RATIO
	Boundary Ratio between the two lowest EDD.

float	minCC_TH
	Minimum Value of the Cross Correlation.

float	minDCC_TH
	Minimum Difference Between the Maximum Cross Correlation Values.

float	rCC_TH
	Maximum Ratio Between the two highest CC values.

float	maxEDSD_TH
	Maximum Euclidean Distance Between SURF Descriptors.

float	EDSD_RATIO
	Boundary Ratio between the two lowest SURF EDSD.

double	maxSAD_TH
	Minimum Euclidean Distance Between Sum of Absolute Differences.

double	SAD_RATIO
	Boundary Ratio between the two highest SAD.

bool	estimateDepth
	Whether or not estimate the 3D position of the real features for the matches (only with parallelOpticalAxis by now).

double	maxDepthThreshold
	The maximum allowed depth for the matching. If its computed depth is larger than this, the match won't be considered.

Static Protected Member Functions
static void	dumpVar_int (CStream &out, const char *varName, int v)
	Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

static void	dumpVar_float (CStream &out, const char *varName, float v)

static void	dumpVar_double (CStream &out, const char *varName, double v)

static void	dumpVar_bool (CStream &out, const char *varName, bool v)

static void	dumpVar_string (CStream &out, const char *varName, const std::string &v)

Member Enumeration Documentation

enum mrpt::vision::TMatchingOptions::TMatchingMethod

Method for propagating the feature's image coordinate uncertainty into 3D space.

Default value: Prop_Linear

Enumerator
mmCorrelation	Matching by cross correlation of the image patches.
mmDescriptorSIFT	Matching by Euclidean distance between SIFT descriptors.
mmDescriptorSURF	Matching by Euclidean distance between SURF descriptors.
mmSAD	Matching by sum of absolute differences of the image patches.

Definition at line 314 of file vision/include/mrpt/vision/types.h.

Constructor & Destructor Documentation

mrpt::vision::TMatchingOptions::TMatchingOptions ( )

Constructor.

Member Function Documentation

void mrpt::utils::CLoadableOptions::dumpToConsole ( ) const

inherited

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

virtual void mrpt::utils::CLoadableOptions::dumpToTextStream ( CStream & out ) const

pure virtualinherited

This method must display clearly all the contents of the structure in textual form, sending it to a CStream.

void mrpt::vision::TMatchingOptions::dumpToTextStream ( CStream & out ) const

See utils::CLoadableOptions.

static void mrpt::utils::CLoadableOptions::dumpVar_bool	(	CStream &	out,
		const char *	varName,
		bool	v
	)

staticprotectedinherited

static void mrpt::utils::CLoadableOptions::dumpVar_double	(	CStream &	out,
		const char *	varName,
		double	v
	)

staticprotectedinherited

static void mrpt::utils::CLoadableOptions::dumpVar_float	(	CStream &	out,
		const char *	varName,
		float	v
	)

staticprotectedinherited

static void mrpt::utils::CLoadableOptions::dumpVar_int	(	CStream &	out,
		const char *	varName,
		int	v
	)

staticprotectedinherited

Used to print variable info from dumpToTextStream with the macro LOADABLEOPTS_DUMP_VAR.

static void mrpt::utils::CLoadableOptions::dumpVar_string	(	CStream &	out,
		const char *	varName,
		const std::string &	v
	)

staticprotectedinherited

void mrpt::vision::TMatchingOptions::loadFromConfigFile	(	const mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

virtual

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

void mrpt::utils::CLoadableOptions::loadFromConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)

inherited

Behaves like loadFromConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to load the file.

See Also: loadFromConfigFile

virtual void mrpt::utils::CLoadableOptions::saveToConfigFile	(	mrpt::utils::CConfigFileBase &	source,
		const std::string &	section
	)

inlinevirtualinherited

This method saves the options to a ".ini"-like file or memory-stored string list.

See Also: loadFromConfigFile, saveToConfigFileName

Reimplemented in mrpt::vision::TMultiResDescOptions, and mrpt::vision::TMultiResDescMatchOptions.

Definition at line 87 of file CLoadableOptions.h.

References THROW_EXCEPTION.

void mrpt::utils::CLoadableOptions::saveToConfigFileName	(	const std::string &	config_file,
		const std::string &	section
	)

inherited

Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file.

See Also: saveToConfigFile, loadFromConfigFileName

Member Data Documentation

bool mrpt::vision::TMatchingOptions::addMatches

Whether or not to add the matches found into the input matched list (if false the input list will be cleared before being filled with the new matches)

Definition at line 335 of file vision/include/mrpt/vision/types.h.

float mrpt::vision::TMatchingOptions::EDD_RATIO

Boundary Ratio between the two lowest EDD.

Definition at line 345 of file vision/include/mrpt/vision/types.h.

float mrpt::vision::TMatchingOptions::EDSD_RATIO

Boundary Ratio between the two lowest SURF EDSD.

Definition at line 354 of file vision/include/mrpt/vision/types.h.

float mrpt::vision::TMatchingOptions::epipolar_TH

Epipolar constraint (rows of pixels)

Definition at line 341 of file vision/include/mrpt/vision/types.h.

bool mrpt::vision::TMatchingOptions::estimateDepth

Whether or not estimate the 3D position of the real features for the matches (only with parallelOpticalAxis by now).