A structure containing options for the matching.
Definition at line 243 of file vision/include/mrpt/vision/types.h.
#include <mrpt/vision/types.h>
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 §ion) |
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) | |
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. |
Method for propagating the feature's image coordinate uncertainty into 3D space.
Default value: Prop_Linear
Definition at line 248 of file vision/include/mrpt/vision/types.h.
mrpt::vision::TMatchingOptions::TMatchingOptions | ( | ) |
Constructor.
void mrpt::vision::TMatchingOptions::dumpToTextStream | ( | CStream & | out ) | const [virtual] |
Implements mrpt::utils::CLoadableOptions.
void mrpt::vision::TMatchingOptions::loadFromConfigFile | ( | const mrpt::utils::CConfigFileBase & | source, |
const std::string & | section | ||
) | [virtual] |
Implements mrpt::utils::CLoadableOptions.
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 269 of file vision/include/mrpt/vision/types.h.
Boundary Ratio between the two lowest EDD.
Definition at line 279 of file vision/include/mrpt/vision/types.h.
Boundary Ratio between the two lowest SURF EDSD.
Definition at line 288 of file vision/include/mrpt/vision/types.h.
Epipolar constraint (rows of pixels)
Definition at line 275 of file vision/include/mrpt/vision/types.h.
Whether or not estimate the 3D position of the real features for the matches (only with parallelOpticalAxis by now).
Definition at line 295 of file vision/include/mrpt/vision/types.h.
Definition at line 271 of file vision/include/mrpt/vision/types.h.
Whether or not there is a fundamental matrix.
Definition at line 266 of file vision/include/mrpt/vision/types.h.
Matching method.
Definition at line 274 of file vision/include/mrpt/vision/types.h.
The maximum allowed depth for the matching. If its computed depth is larger than this, the match won't be considered.
Definition at line 296 of file vision/include/mrpt/vision/types.h.
Maximum Euclidean Distance Between SIFT Descriptors.
Definition at line 278 of file vision/include/mrpt/vision/types.h.
Maximum Euclidean Distance Between SURF Descriptors.
Definition at line 287 of file vision/include/mrpt/vision/types.h.
Minimum Euclidean Distance Between Sum of Absolute Differences.
Definition at line 291 of file vision/include/mrpt/vision/types.h.
Minimum Value of the Cross Correlation.
Definition at line 282 of file vision/include/mrpt/vision/types.h.
Minimum Difference Between the Maximum Cross Correlation Values.
Definition at line 283 of file vision/include/mrpt/vision/types.h.
Whether or not the stereo rig has the optical axes parallel.
Definition at line 267 of file vision/include/mrpt/vision/types.h.
Maximum Ratio Between the two highest CC values.
Definition at line 284 of file vision/include/mrpt/vision/types.h.
Boundary Ratio between the two highest SAD.
Definition at line 292 of file vision/include/mrpt/vision/types.h.
Whether or not take into account the epipolar restriction for finding correspondences.
Definition at line 265 of file vision/include/mrpt/vision/types.h.
Whether or not employ the x-coord restriction for finding correspondences (bumblebee camera, for example)
Definition at line 268 of file vision/include/mrpt/vision/types.h.
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