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mrpt::vision::TMatchingOptions Struct Reference

Detailed Description

A structure containing options for the matching.

Definition at line 268 of file vision/include/mrpt/vision/types.h.

#include <mrpt/vision/types.h>

Inheritance diagram for mrpt::vision::TMatchingOptions:
Inheritance graph

Public Types

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

Public Member Functions

 TMatchingOptions ()
 Constructor. More...
 
void loadFromConfigFile (const mrpt::utils::CConfigFileBase &source, const std::string &section) MRPT_OVERRIDE
 This method load the options from a ".ini"-like file or memory-stored string list. More...
 
void dumpToTextStream (mrpt::utils::CStream &out) const MRPT_OVERRIDE
 This method should clearly display all the contents of the structure in textual form, sending it to a CStream. More...
 
bool operator== (const TMatchingOptions &o) const
 
void operator= (const TMatchingOptions &o)
 
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. More...
 
virtual void saveToConfigFile (mrpt::utils::CConfigFileBase &target, const std::string &section) const
 This method saves the options to a ".ini"-like file or memory-stored string list. More...
 
void saveToConfigFileName (const std::string &config_file, const std::string &section) const
 Behaves like saveToConfigFile, but you can pass directly a file name and a temporary CConfigFile object will be created automatically to save the file. More...
 
void dumpToConsole () const
 Just like dumpToTextStream() but sending the text to the console (std::cout) More...
 

Public Attributes

bool useEpipolarRestriction
 Whether or not take into account the epipolar restriction for finding correspondences. More...
 
bool hasFundamentalMatrix
 Whether or not there is a fundamental matrix. More...
 
bool parallelOpticalAxis
 Whether or not the stereo rig has the optical axes parallel. More...
 
bool useXRestriction
 Whether or not employ the x-coord restriction for finding correspondences (bumblebee camera, for example) More...
 
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) More...
 
bool useDisparityLimits
 Whether or not use limits (min,max) for the disparity, see also 'min_disp, max_disp'. More...
 
bool enable_robust_1to1_match
 Whether or not only permit matches that are consistent from left->right and right->left. More...
 
float min_disp
 
float max_disp
 Disparity limits, see also 'useDisparityLimits'. More...
 
mrpt::math::CMatrixDouble33 F
 
TMatchingMethod matching_method
 Matching method. More...
 
float epipolar_TH
 Epipolar constraint (rows of pixels) More...
 
float maxEDD_TH
 Maximum Euclidean Distance Between SIFT Descriptors. More...
 
float EDD_RATIO
 Boundary Ratio between the two lowest EDD. More...
 
float minCC_TH
 Minimum Value of the Cross Correlation. More...
 
float minDCC_TH
 Minimum Difference Between the Maximum Cross Correlation Values. More...
 
float rCC_TH
 Maximum Ratio Between the two highest CC values. More...
 
float maxEDSD_TH
 Maximum Euclidean Distance Between SURF Descriptors. More...
 
float EDSD_RATIO
 Boundary Ratio between the two lowest SURF EDSD. More...
 
double maxSAD_TH
 Minimum Euclidean Distance Between Sum of Absolute Differences. More...
 
double SAD_RATIO
 Boundary Ratio between the two highest SAD. More...
 
double maxORB_dist
 Maximun distance between ORB descriptors. More...
 
bool estimateDepth
 Whether or not estimate the 3D position of the real features for the matches (only with parallelOpticalAxis by now). More...
 
double maxDepthThreshold
 The maximum allowed depth for the matching. If its computed depth is larger than this, the match won't be considered. More...
 

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. More...
 
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

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.

mmDescriptorORB 

Matching by Hamming distance between ORB descriptors.

Definition at line 273 of file vision/include/mrpt/vision/types.h.

Constructor & Destructor Documentation

TMatchingOptions::TMatchingOptions ( )

Constructor.

Definition at line 2209 of file vision_utils.cpp.

Member Function Documentation

void CLoadableOptions::dumpToConsole ( ) const
inherited
void TMatchingOptions::dumpToTextStream ( mrpt::utils::CStream out) const
virtual

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

The default implementation in this base class relies on saveToConfigFile() to generate a plain text representation of all the parameters.

Reimplemented from mrpt::utils::CLoadableOptions.

Definition at line 2306 of file vision_utils.cpp.

References addMatches, EDD_RATIO, EDSD_RATIO, epipolar_TH, estimateDepth, hasFundamentalMatrix, matching_method, max_disp, maxDepthThreshold, maxEDD_TH, maxEDSD_TH, maxORB_dist, maxSAD_TH, min_disp, minCC_TH, minDCC_TH, mmCorrelation, mmDescriptorORB, mmDescriptorSIFT, mmDescriptorSURF, mmSAD, parallelOpticalAxis, mrpt::utils::CStream::printf(), rCC_TH, SAD_RATIO, useDisparityLimits, useEpipolarRestriction, and useXRestriction.

void CLoadableOptions::dumpVar_bool ( CStream out,
const char *  varName,
bool  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_double ( CStream out,
const char *  varName,
double  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_float ( CStream out,
const char *  varName,
float  v 
)
staticprotectedinherited
void CLoadableOptions::dumpVar_int ( CStream out,
const char *  varName,
int  v 
)
staticprotectedinherited

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

Definition at line 52 of file CLoadableOptions.cpp.

References LOADABLEOPTS_COLUMN_WIDTH, and mrpt::utils::CStream::printf().

void CLoadableOptions::dumpVar_string ( CStream out,
const char *  varName,
const std::string v 
)
staticprotectedinherited
void TMatchingOptions::loadFromConfigFile ( const mrpt::utils::CConfigFileBase source,
const std::string section 
)
virtual

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

Only those parameters found in the given "section" and having the same name that the variable are loaded. Those not found in the file will stay with their previous values (usually the default values loaded at initialization). An example of an ".ini" file:

[section]
resolution = 0.10 // blah blah...
modeSelection = 1 // 0=blah, 1=blah,...
See Also
loadFromConfigFileName, saveToConfigFile

Implements mrpt::utils::CLoadableOptions.

Definition at line 2249 of file vision_utils.cpp.

References addMatches, EDD_RATIO, EDSD_RATIO, epipolar_TH, estimateDepth, hasFundamentalMatrix, matching_method, max_disp, maxDepthThreshold, maxEDD_TH, maxEDSD_TH, maxORB_dist, maxSAD_TH, min_disp, minCC_TH, minDCC_TH, mmCorrelation, mmDescriptorORB, mmDescriptorSIFT, mmDescriptorSURF, mmSAD, parallelOpticalAxis, rCC_TH, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), SAD_RATIO, useDisparityLimits, useEpipolarRestriction, and useXRestriction.

void 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

Definition at line 23 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::loadFromConfigFile().

Referenced by mrpt::graphslam::optimizers::CLevMarqGSO< GRAPH_T >::loadParams().

void mrpt::vision::TMatchingOptions::operator= ( const TMatchingOptions o)
inline

Definition at line 372 of file vision/include/mrpt/vision/types.h.

References COPY_MEMBER.

bool mrpt::vision::TMatchingOptions::operator== ( const TMatchingOptions o) const
inline

Definition at line 343 of file vision/include/mrpt/vision/types.h.

References CHECK_MEMBER.

void CLoadableOptions::saveToConfigFile ( mrpt::utils::CConfigFileBase target,
const std::string section 
) const
virtualinherited
void CLoadableOptions::saveToConfigFileName ( const std::string config_file,
const std::string section 
) const
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

Definition at line 39 of file CLoadableOptions.cpp.

References mrpt::utils::CLoadableOptions::saveToConfigFile().

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 297 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::matchFeatures().

float mrpt::vision::TMatchingOptions::EDD_RATIO
float mrpt::vision::TMatchingOptions::EDSD_RATIO

Boundary Ratio between the two lowest SURF EDSD.

Definition at line 320 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::matchFeatures().

bool mrpt::vision::TMatchingOptions::enable_robust_1to1_match

Whether or not only permit matches that are consistent from left->right and right->left.

Definition at line 299 of file vision/include/mrpt/vision/types.h.

float mrpt::vision::TMatchingOptions::epipolar_TH
bool mrpt::vision::TMatchingOptions::estimateDepth

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

Definition at line 330 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::matchFeatures().

mrpt::math::CMatrixDouble33 mrpt::vision::TMatchingOptions::F

Definition at line 303 of file vision/include/mrpt/vision/types.h.

bool mrpt::vision::TMatchingOptions::hasFundamentalMatrix

Whether or not there is a fundamental matrix.

Definition at line 294 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::matchFeatures().

TMatchingMethod mrpt::vision::TMatchingOptions::matching_method
float mrpt::vision::TMatchingOptions::max_disp

Disparity limits, see also 'useDisparityLimits'.

Definition at line 301 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

double mrpt::vision::TMatchingOptions::maxDepthThreshold

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

Definition at line 331 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::matchFeatures().

float mrpt::vision::TMatchingOptions::maxEDD_TH
float mrpt::vision::TMatchingOptions::maxEDSD_TH

Maximum Euclidean Distance Between SURF Descriptors.

Definition at line 319 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::matchFeatures().

double mrpt::vision::TMatchingOptions::maxORB_dist

Maximun distance between ORB descriptors.

Definition at line 327 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::matchFeatures().

double mrpt::vision::TMatchingOptions::maxSAD_TH

Minimum Euclidean Distance Between Sum of Absolute Differences.

Definition at line 323 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::matchFeatures().

float mrpt::vision::TMatchingOptions::min_disp

Definition at line 301 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

float mrpt::vision::TMatchingOptions::minCC_TH

Minimum Value of the Cross Correlation.

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

Referenced by mrpt::vision::checkTrackedFeatures(), dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::matchFeatures().

float mrpt::vision::TMatchingOptions::minDCC_TH

Minimum Difference Between the Maximum Cross Correlation Values.

Definition at line 315 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

bool mrpt::vision::TMatchingOptions::parallelOpticalAxis

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

Definition at line 295 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::matchFeatures().

float mrpt::vision::TMatchingOptions::rCC_TH

Maximum Ratio Between the two highest CC values.

Definition at line 316 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::matchFeatures().

double mrpt::vision::TMatchingOptions::SAD_RATIO

Boundary Ratio between the two highest SAD.

Definition at line 324 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::matchFeatures().

bool mrpt::vision::TMatchingOptions::useDisparityLimits

Whether or not use limits (min,max) for the disparity, see also 'min_disp, max_disp'.

Definition at line 298 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), and loadFromConfigFile().

bool mrpt::vision::TMatchingOptions::useEpipolarRestriction

Whether or not take into account the epipolar restriction for finding correspondences.

Definition at line 293 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::matchFeatures().

bool mrpt::vision::TMatchingOptions::useXRestriction

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

Definition at line 296 of file vision/include/mrpt/vision/types.h.

Referenced by dumpToTextStream(), loadFromConfigFile(), and mrpt::vision::matchFeatures().




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