Public Member Functions
	HowardStereoMatcher (float thresh, int descriptorSize)
void	match (const frame_common::Frame &prevFrame, const frame_common::Frame &frame, std::vector< cv::DMatch > &matches, std::vector< int > &filteredIndices, const cv::Mat &mask)
Private Member Functions
double	calcDeltaL (const cv::Point3f &p11, const cv::Point3f &p21, double t, double f, double threshold)
void	calculateConsistMatrix (const std::vector< cv::DMatch > &matches, const frame_common::Frame &prevFrame, const frame_common::Frame &frame, cv::Mat &consistMatrix)
void	calculateCrossCheckMatches (const cv::Mat &scoreMatrix, std::vector< cv::DMatch > &matches)
void	calculateScoreMatrix (cv::Mat &scoreMatrix)
void	filterKpts (const cv::Mat &img, const std::vector< cv::KeyPoint > &kpts, bool orientation)
void	filterMatches (const cv::Mat &consistMatrix, std::vector< int > &filteredIndices)
Private Attributes
int	descriptorSize
cv::Ptr< cv::DescriptorExtractor >	extractor
cv::Mat	frameDtors
cv::Mat	prevFrameDtors
float	threshold
cv::Mat	windowedMask

Detailed Description

Definition at line 24 of file howardMatcher.h.

Constructor & Destructor Documentation

HowardStereoMatcher::HowardStereoMatcher	(	float	thresh,
		int	descriptorSize
	)

Definition at line 73 of file howardMatcher.cpp.

double HowardStereoMatcher::calcDeltaL	(	const cv::Point3f &	p11,
		const cv::Point3f &	p21,
		double	t,
		double	f,
		double	threshold
	)		`[private]`

Definition at line 179 of file howardMatcher.cpp.

void HowardStereoMatcher::calculateConsistMatrix	(	const std::vector< cv::DMatch > &	matches,
		const frame_common::Frame &	prevFrame,
		const frame_common::Frame &	frame,
		cv::Mat &	consistMatrix
	)		`[private]`

Definition at line 192 of file howardMatcher.cpp.

void HowardStereoMatcher::calculateCrossCheckMatches	(	const cv::Mat &	scoreMatrix,
		std::vector< cv::DMatch > &	matches
	)		`[private]`

Definition at line 142 of file howardMatcher.cpp.

void HowardStereoMatcher::calculateScoreMatrix ( cv::Mat & scoreMatrix ) [private]

Definition at line 126 of file howardMatcher.cpp.

void HowardStereoMatcher::filterKpts	(	const cv::Mat &	img,
		const std::vector< cv::KeyPoint > &	kpts,
		bool	orientation
	)		`[private]`

Definition at line 110 of file howardMatcher.cpp.

void HowardStereoMatcher::filterMatches	(	const cv::Mat &	consistMatrix,
		std::vector< int > &	filteredIndices
	)		`[private]`

Definition at line 240 of file howardMatcher.cpp.

void HowardStereoMatcher::match	(	const frame_common::Frame &	prevFrame,
		const frame_common::Frame &	frame,
		std::vector< cv::DMatch > &	matches,
		std::vector< int > &	filteredIndices,
		const cv::Mat &	mask
	)