Class MatchingProblemFrameToFrame¶
Defined in File matching-problem-frame-to-frame.h
Inheritance Relationships¶
Base Type¶
public aslam::MatchingProblem
(Class MatchingProblem)
Class Documentation¶
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class
aslam
::
MatchingProblemFrameToFrame
: public aslam::MatchingProblem¶ Public Functions
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ASLAM_POINTER_TYPEDEFS
(MatchingProblemFrameToFrame)¶
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ASLAM_DISALLOW_EVIL_CONSTRUCTORS
(MatchingProblemFrameToFrame)¶
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ASLAM_ADD_MATCH_TYPEDEFS
(FrameToFrame)¶
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MatchingProblemFrameToFrame
() = delete¶
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MatchingProblemFrameToFrame
(const VisualFrame &apple_frame, const VisualFrame &banana_frame, const aslam::Quaternion &q_A_B, double image_space_distance_threshold_pixels, int hamming_distance_threshold)¶ Constructor for a frame-to-frame matching problem.
- Parameters
[in] apple_frame – Apple frame.
[in] banana_frame – Banana frame.
[in] q_A_B – Quaternion taking vectors from the banana frame into the apple frame.
[in] image_space_distance_threshold_pixels – Max image space distance threshold for two pairs to become match candidates.
[in] hamming_distance_threshold – Max hamming distance for two pairs to become candidates.
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inline virtual
~MatchingProblemFrameToFrame
()¶
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virtual size_t
numApples
() const¶
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virtual size_t
numBananas
() const¶
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virtual void
getAppleCandidatesForBanana
(int frame_banana_keypoint_index, Candidates *candidates)¶ Get a short list of candidates in list a for index b.
- Parameters
[in] frame_banana_keypoint_index – The index of b queried for candidates.
[out] candidates – Candidates from the apple frame keypoints that could potentially match the given keypoint from the banana frame.
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inline double
computeMatchScore
(int hamming_distance)¶
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inline int
computeHammingDistance
(int banana_index, int apple_index)¶
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virtual bool
doSetup
()¶ Gets called at the beginning of the matching problem.
Creates a y-coordinate LUT for all apple keypoints and projects all banana keypoints into the apple frame.
Friends
- friend class MatcherTest
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