Handles unguided feature matching and robust estimation. More...

#include <feature_matching.h>

Public Types
typedef shared_ptr < EMatrixModelBuilder >	MBuilderPtr
Public Member Functions
void	nonsymetricalMatch (const std::vector< cv::KeyPoint > &train_keypoints, const std::vector< cv::KeyPoint > &query_keypoints, const cv::Mat &train_descriptors, const cv::Mat &query_descriptors, RobustFeatureMatcherStats &stats, vector< cv::DMatch > &matches)
	one-way matching with ratio test.
void	outlierRemoval (const SE3 &T_c1c2, const ImageMatchVec &matches_c1c2, const vector< cv::DMatch > &dmatches_c1c2, RobustFeatureMatcherStats &stats, vector< cv::DMatch > &filtered_matches_c1c2)
	remove matches that are outliers in epipolar constraint given by T_c1c2.
bool	ransacTest (const ImageMatchVec &matches_c1c2, const vector< cv::DMatch > &dmatches_c1c2, RobustFeatureMatcherStats &stats, vector< cv::DMatch > &filtered_matches_c1c2, SE3 &T_c1c2)
	produce relative pose estimate (model) and remove outliers of the model.
	RobustFeatureMatcher (shared_ptr< cv::DescriptorMatcher > _matcher, MBuilderPtr _mbuilder=MBuilderPtr(), MBuilderPtr _maximal_data_mbuilder=MBuilderPtr())
void	setMaxOutlierRemovalError (double _e)
	Set maximum error under which data point is considered an inlier (RanSaC).
void	setRansacIterationsNum (int num)
	Set number of RanSaC iteration in model estimation.
void	setRanSaCModelMinInliersRatio (int ratio)
	Set the minimum number of inliers in valid model (RanSaC).
void	setRatio (float r)
	Set max ratio between 1st and 2nd nearest neighbours to train descriptor.
void	symaetricalMatch (const std::vector< cv::KeyPoint > &keypoints_c1, const std::vector< cv::KeyPoint > &keypoints_c2, const cv::Mat &descriptors_c1, const cv::Mat &descriptors_c2, RobustFeatureMatcherStats &stats, std::vector< cv::DMatch > &sym_matches_c1c2)
	symetrical matching of features produced by two calls to nonsymetricalMatch and symmetry test.
Protected Member Functions
void	ratioTest (std::vector< std::vector< cv::DMatch > > &matches0, std::vector< cv::DMatch > &matches)
void	symmetryTest (const vector< cv::DMatch > &matches_c1c2, const vector< cv::DMatch > &matches_c2c1, int keypoints2_size, vector< cv::DMatch > &symMatches)
Private Attributes
shared_ptr< cv::DescriptorMatcher >	matcher
double	max_outlier_removal_error
shared_ptr< EMatrixModelBuilder >	maximal_data_mbuilder
	if true, will use it to refine the E matrix
shared_ptr< EMatrixModelBuilder >	mbuilder
int	ransac_iterations
double	ransac_model_min_inliers_ratio
float	ratio
	max ratio between 1st and 2nd nearest neighbours.

Detailed Description

Handles unguided feature matching and robust estimation.

Uses OpenCV features2d framework for feature matching.

Robust estimation is done using a 5-point algorithm. Error functuion is angle between epipolar planes given by a match. match is a pair of corresponding points on the imaging surface.

Definition at line 186 of file feature_matching.h.

Member Typedef Documentation

typedef shared_ptr<EMatrixModelBuilder> RobustFeatureMatcher::MBuilderPtr

Definition at line 198 of file feature_matching.h.

Constructor & Destructor Documentation

RobustFeatureMatcher::RobustFeatureMatcher	(	shared_ptr< cv::DescriptorMatcher >	_matcher,
		MBuilderPtr	_mbuilder = `MBuilderPtr()`,
		MBuilderPtr	_maximal_data_mbuilder = `MBuilderPtr()`
	)		`[inline]`

Parameters:

_matcher	instance of a class with OpenCVs DescriptorMatchers interface
_mbuilder	class with ModelBuilder interface for RanSaC. If _mbuilder=NULL then model estimation is not performed.
_maximal_data_mbuilder	dummy parameter reserved for future functionality.

Definition at line 206 of file feature_matching.h.

Member Function Documentation

void RobustFeatureMatcher::nonsymetricalMatch	(	const std::vector< cv::KeyPoint > &	train_keypoints,
		const std::vector< cv::KeyPoint > &	query_keypoints,
		const cv::Mat &	train_descriptors,
		const cv::Mat &	query_descriptors,
		RobustFeatureMatcherStats &	stats,
		vector< cv::DMatch > &	matches
	)

one-way matching with ratio test.

Parameters:

stats matching statistics (only relevant parts are filled with meaningful values).

Definition at line 129 of file feature_matching.cpp.

void RobustFeatureMatcher::outlierRemoval	(	const SE3 &	T_c1c2,
		const ImageMatchVec &	matches_c1c2,
		const vector< cv::DMatch > &	dmatches_c1c2,
		RobustFeatureMatcherStats &	stats,
		vector< cv::DMatch > &	filtered_matches_c1c2
	)

remove matches that are outliers in epipolar constraint given by T_c1c2.

Parameters:

T_c1c2 transform from camera1 coordinate frame to camera 2 coordinate frame. First camera that cooresponds to train keypoints in cv::DMatch.

Definition at line 283 of file feature_matching.cpp.

bool RobustFeatureMatcher::ransacTest	(	const ImageMatchVec &	matches_c1c2,
		const vector< cv::DMatch > &	dmatches_c1c2,
		RobustFeatureMatcherStats &	stats,
		vector< cv::DMatch > &	filtered_matches_c1c2,
		SE3 &	T_c1c2
	)

produce relative pose estimate (model) and remove outliers of the model.

Parameters:

T_c1c2 has the same semantics as in outlierRemoval.

See also:: outlierRemoval

Definition at line 228 of file feature_matching.cpp.

void RobustFeatureMatcher::ratioTest	(	std::vector< std::vector< cv::DMatch > > &	matches0,
		std::vector< cv::DMatch > &	matches
	)		`[protected]`

Definition at line 184 of file feature_matching.cpp.

void RobustFeatureMatcher::setMaxOutlierRemovalError ( double _e ) [inline]

Set maximum error under which data point is considered an inlier (RanSaC).

Definition at line 231 of file feature_matching.h.

void RobustFeatureMatcher::setRansacIterationsNum ( int num ) [inline]

Set number of RanSaC iteration in model estimation.

Definition at line 221 of file feature_matching.h.

void RobustFeatureMatcher::setRanSaCModelMinInliersRatio ( int ratio ) [inline]

Set the minimum number of inliers in valid model (RanSaC).

Definition at line 216 of file feature_matching.h.

void RobustFeatureMatcher::setRatio ( float r ) [inline]

Set max ratio between 1st and 2nd nearest neighbours to train descriptor.

Definition at line 226 of file feature_matching.h.

void RobustFeatureMatcher::symaetricalMatch	(	const std::vector< cv::KeyPoint > &	keypoints_c1,
		const std::vector< cv::KeyPoint > &	keypoints_c2,
		const cv::Mat &	descriptors_c1,
		const cv::Mat &	descriptors_c2,
		RobustFeatureMatcherStats &	stats,
		std::vector< cv::DMatch > &	sym_matches_c1c2
	)

symetrical matching of features produced by two calls to nonsymetricalMatch and symmetry test.

Definition at line 155 of file feature_matching.cpp.

void RobustFeatureMatcher::symmetryTest	(	const vector< cv::DMatch > &	matches_c1c2,
		const vector< cv::DMatch > &	matches_c2c1,
		int	keypoints2_size,
		vector< cv::DMatch > &	symMatches
	)		`[protected]`