Feature Matching. Local matching, global mathing, virtual feature detectors and descriptors. More...
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Classes | |
| struct | vslam::Cell |
| class | vslam::Grid |
| Fast lookup of content by image coordinates. More... | |
| class | RobustFeatureMatcher |
| Handles unguided feature matching and robust estimation. More... | |
| struct | RobustFeatureMatcherStats |
| statistics output data structure for RobustFeatureMatcher More... | |
| class | VirtualFeatureDetector |
| Virtual feature detector for OpenCV feature2d framework. More... | |
Namespaces | |
| namespace | vslam |
Namespace containing implementation of visual odometry. | |
Modules | |
| Guided Matching | |
Matching whre approximate location of feature beeing matched is known. | |
| Virtual Feature Matching | |
Implementation of virtual matching for OpenCV detector-descriptor-matcher interface. | |
Files | |
| file | feature_matching.cpp |
implementation of feature_matching.h. | |
| file | feature_matching.h |
Virtual feature detectors, descriptors and matchers (for simulation) and global feature matching code. | |
| file | graph_builder.h |
Contains code that performs functionality of Node Builder, Node Destroyer, Edge Builder and Landmark Manager (which are components of Main Data Structure). | |
| file | grid.h |
Class for fast lookup of features by their image plane coordinates. | |
Functions | |
| int | vslam::col (const Cell &c) |
| void | vslam::nonMaximaSuppresion (const vector< cv::KeyPoint > &keypoints, double max_num, vector< int > &supressed_keypoint_idxs) |
| Reduces number of detected fetures. Causes features to be more evenly distributed across the image. | |
| int | vslam::row (const Cell &c) |
Feature Matching. Local matching, global mathing, virtual feature detectors and descriptors.
| int vslam::col | ( | const Cell & | c | ) | [inline] |
| void vslam::nonMaximaSuppresion | ( | const vector< cv::KeyPoint > & | keypoints, |
| double | max_num, | ||
| vector< int > & | supressed_keypoint_idxs | ||
| ) | [inline] |
Reduces number of detected fetures. Causes features to be more evenly distributed across the image.
Partitions image into a grid and from each grid selects up to k points based on feature detector response strength so as to reduce number of features.
| max_num | maximum number of features allowed. If some cells in the grid contain less than k features, there is that much less selected features. |
| int vslam::row | ( | const Cell & | c | ) | [inline] |
