Guided Matching

Matching whre approximate location of feature beeing matched is known. More...

Collaboration diagram for Guided Matching:

Functions
template<class PoseGraphT >
void	vslam::findLocalMatchesSE3 (const PoseGraphT &g, typename graph_traits< PoseGraphT >::vertex_descriptor vd1, typename graph_traits< PoseGraphT >::vertex_descriptor vd2, shared_ptr< RobustFeatureMatcher > rmatcher, vector< cv::DMatch > &matches)
	Performs guided matching.
template<class PoseGraphT >
void	vslam::findLocalMatchesSO3 (const PoseGraphT &g, typename graph_traits< PoseGraphT >::vertex_descriptor tvd, typename graph_traits< PoseGraphT >::vertex_descriptor qvd, shared_ptr< RobustFeatureMatcher > rmatcher, Vector2d grid_dim, bool skip_landmarks, vector< cv::DMatch > &matches)

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Detailed Description

Matching whre approximate location of feature beeing matched is known.

Based on estimates of SO3 transofrm or SE3 transform between two poses, the search area for each feature from first image is restricted in the second image.

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Function Documentation

template<class PoseGraphT >

void vslam::findLocalMatchesSE3	(	const PoseGraphT &	g,
		typename graph_traits< PoseGraphT >::vertex_descriptor	vd1,
		typename graph_traits< PoseGraphT >::vertex_descriptor	vd2,
		shared_ptr< RobustFeatureMatcher >	rmatcher,
		vector< cv::DMatch > &	matches
	)

Performs guided matching.

Utilizes information about relative orientation of CF 1 and CF 2 and optionally, the positions of features from vertex vd1 wrt. to CF 1, to constrain search areas for coresponding features in vertex vd2.

Precondition:

vertex_kp and vertex_desc have to be filled for 'vd1', 'vd2' and their neigbours in the graph 'g'. At least SO3 part of the RBT's T_cw for 'vd1', 'vd2' and their neighbours have to be filled (the vertex_transform has to be set accordingly).

Parameters:

	rmatcher	appearence-based feature matching class for matching (RobustFeatureMatcher).
[out]	matches	produced guided matches (indexes).

Definition at line 59 of file graph_builder.h.

template<class PoseGraphT >

void vslam::findLocalMatchesSO3	(	const PoseGraphT &	g,
		typename graph_traits< PoseGraphT >::vertex_descriptor	tvd,
		typename graph_traits< PoseGraphT >::vertex_descriptor	qvd,
		shared_ptr< RobustFeatureMatcher >	rmatcher,
		Vector2d	grid_dim,
		bool	skip_landmarks,
		vector< cv::DMatch > &	matches
	)

Definition at line 117 of file graph_builder.h.