Filters a set of matches based on geometric constraints. UUID: 3731691e-2c4c-4d37-a2ce-06d1918f8d41 More...

Inheritance diagram for SolAR::MODULES::OPENCV::SolARGeometricMatchesFilterOpencv:

Collaboration diagram for SolAR::MODULES::OPENCV::SolARGeometricMatchesFilterOpencv:

Public Member Functions
	SolARGeometricMatchesFilterOpencv ()
	SolARGeometricMatchesFilterOpencv constructor.

	~SolARGeometricMatchesFilterOpencv ()
	SolARGeometricMatchesFilterOpencv destructor.

void	filter (const std::vector< datastructure::DescriptorMatch > &inputMatches, std::vector< datastructure::DescriptorMatch > &outputMatches, const std::vector< datastructure::Keypoint > &inputKeyPointsA, const std::vector< datastructure::Keypoint > &inputKeyPointsB) override
	filter matches based fundamental matrix assumptions. This filter removes all outliers matches which give high reprojection error. More...

virtual void	filter (const std::vector< datastructure::DescriptorMatch > &inputMatches, std::vector< datastructure::DescriptorMatch > &outputMatches, const std::vector< datastructure::Keypoint > &inputKeyPoints1, const std::vector< datastructure::Keypoint > &inputKeyPoints2, const datastructure::Transform3Df &pose1, const datastructure::Transform3Df &pose2, const datastructure::CamCalibration &intrinsicParams) override
	filter matches based fundamental matrix calculated from camera matrices More...

void	unloadComponent () override final

Detailed Description

Filters a set of matches based on geometric constraints. UUID: 3731691e-2c4c-4d37-a2ce-06d1918f8d41

Properties

confidence	The desirable level of confidence (propability) that the estimated matrix is correct.
	type: float; range : [0..1]; default: 0.99f
outlierDistanceRatio	Here we are using a RANSAC method to keep only inliers matches. This attribute is the ratio between the maximum distance in pixels between source points and the maximum distance in pixels to the epipolar line for which point is considered as a outlier. The higher is this ratio, the more you will keep inliers to estimate your 2D transform, but the less this estimation will be correct. By default, this value is set to the one proposed by [Snavely07 4.1]
	type: float; range : [0..MAX FLOAT]; default: 0.006f
epilinesDistance	threshold to valid matches based on distance to epilines
	type: float; range : [0..MAX_FLOAT]; default: 10.f

Member Function Documentation

virtual void SolAR::MODULES::OPENCV::SolARGeometricMatchesFilterOpencv::filter	(	const std::vector< datastructure::DescriptorMatch > &	inputMatches,
		std::vector< datastructure::DescriptorMatch > &	outputMatches,
		const std::vector< datastructure::Keypoint > &	inputKeyPoints1,
		const std::vector< datastructure::Keypoint > &	inputKeyPoints2,
		const datastructure::Transform3Df &	pose1,
		const datastructure::Transform3Df &	pose2,
		const datastructure::CamCalibration &	intrinsicParams
	)

overridevirtual

filter matches based fundamental matrix calculated from camera matrices

Parameters

[in]	Original	matches found between two descriptors "desc_1" and "desc_2".
[out]	Filtred	matches based on geometric relations such as epipolar constraint.
[in]	Original	keypoints associated to desc_1.
[in]	Original	keypoints associated to desc_2.
[in]	camera	pose 1.
[in]	camera	pose 2.
[in]	camera's	intrinsic parameters.

void SolAR::MODULES::OPENCV::SolARGeometricMatchesFilterOpencv::filter	(	const std::vector< datastructure::DescriptorMatch > &	inputMatches,
		std::vector< datastructure::DescriptorMatch > &	outputMatches,
		const std::vector< datastructure::Keypoint > &	inputKeyPointsA,
		const std::vector< datastructure::Keypoint > &	inputKeyPointsB
	)

override

filter matches based fundamental matrix assumptions. This filter removes all outliers matches which give high reprojection error.

Parameters

[in]	Original	matches found between two descriptors "desc_1" and "desc_2".
[out]	Filtred	matches based on geometric relations such as epipolar constraint.
[in]	Original	keypoints associated to desc_1.
[in]	Original	keypoints associated to desc_2.

The documentation for this class was generated from the following file: