mrpt::vision::TMatchingOptions Struct Reference

A structure containing options for the matching. More...

#include <mrpt/vision/utils.h>

Inheritance diagram for mrpt::vision::TMatchingOptions:

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Collaboration diagram for mrpt::vision::TMatchingOptions:

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List of all members.

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.
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).
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	minSAD_TH
double	SAD_RATIO

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Detailed Description

A structure containing options for the matching.

Definition at line 178 of file vision/include/mrpt/vision/utils.h.

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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 183 of file vision/include/mrpt/vision/utils.h.

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Constructor & Destructor Documentation

mrpt::vision::TMatchingOptions::TMatchingOptions

(

)

Constructor.

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Member Function Documentation

void mrpt::vision::TMatchingOptions::dumpToTextStream

(

CStream &

out

)

const [virtual]

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

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

See utils::CLoadableOptions.

Implements mrpt::utils::CLoadableOptions.

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Member Data Documentation

float mrpt::vision::TMatchingOptions::EDD_RATIO

Boundary Ratio between the two lowest EDD.

Definition at line 213 of file vision/include/mrpt/vision/utils.h.

float mrpt::vision::TMatchingOptions::EDSD_RATIO

Boundary Ratio between the two lowest SURF EDSD.

Definition at line 222 of file vision/include/mrpt/vision/utils.h.

float mrpt::vision::TMatchingOptions::epipolar_TH

Epipolar constraint (rows of pixels).

Definition at line 209 of file vision/include/mrpt/vision/utils.h.

CMatrixDouble33 mrpt::vision::TMatchingOptions::F

Definition at line 205 of file vision/include/mrpt/vision/utils.h.

bool mrpt::vision::TMatchingOptions::hasFundamentalMatrix

Whether or not there is a fundamental matrix.

Definition at line 201 of file vision/include/mrpt/vision/utils.h.

TMatchingMethod mrpt::vision::TMatchingOptions::matching_method

Matching method.

Definition at line 208 of file vision/include/mrpt/vision/utils.h.

float mrpt::vision::TMatchingOptions::maxEDD_TH

Maximum Euclidean Distance Between SIFT Descriptors.

Definition at line 212 of file vision/include/mrpt/vision/utils.h.

float mrpt::vision::TMatchingOptions::maxEDSD_TH

Maximum Euclidean Distance Between SURF Descriptors.

Definition at line 221 of file vision/include/mrpt/vision/utils.h.

float mrpt::vision::TMatchingOptions::minCC_TH

Minimum Value of the Cross Correlation.

Definition at line 216 of file vision/include/mrpt/vision/utils.h.

float mrpt::vision::TMatchingOptions::minDCC_TH

Minimum Difference Between the Maximum Cross Correlation Values.

Definition at line 217 of file vision/include/mrpt/vision/utils.h.

double mrpt::vision::TMatchingOptions::minSAD_TH

Definition at line 225 of file vision/include/mrpt/vision/utils.h.

bool mrpt::vision::TMatchingOptions::parallelOpticalAxis

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

Definition at line 202 of file vision/include/mrpt/vision/utils.h.

float mrpt::vision::TMatchingOptions::rCC_TH

Maximum Ratio Between the two highest CC values.

Definition at line 218 of file vision/include/mrpt/vision/utils.h.

double mrpt::vision::TMatchingOptions::SAD_RATIO

Definition at line 226 of file vision/include/mrpt/vision/utils.h.

bool mrpt::vision::TMatchingOptions::useEpipolarRestriction

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

Definition at line 200 of file vision/include/mrpt/vision/utils.h.

bool mrpt::vision::TMatchingOptions::useXRestriction

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

Definition at line 203 of file vision/include/mrpt/vision/utils.h.