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mrpt::vision::TMatchingOptions Struct Reference


Detailed Description

A structure containing options for the matching.

Definition at line 243 of file vision/include/mrpt/vision/types.h.

#include <mrpt/vision/types.h>

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

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.

Definition at line 248 of file vision/include/mrpt/vision/types.h.


Constructor & Destructor Documentation

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

Constructor.


Member Function Documentation

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

Member Data Documentation

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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