Places features into grid cells and discards the weakest features in each cell. More...

#include <grid_filter.hpp>

Public Member Functions
void	filter (std::vector< KeyPoint > *keypoints)
	GridKeyPointFilter (int img_width, int img_height, int bucket_width, int bucket_height, int max_keypoints_per_bucket)
Private Attributes
int	_bucket_height
int	_bucket_width
std::vector< std::vector < KeyPoint > >	_buckets
int	_grid_cols
int	_grid_rows
int	_img_height
int	_img_width
int	_max_keypoints_per_bucket

Detailed Description

Places features into grid cells and discards the weakest features in each cell.

Definition at line 14 of file grid_filter.hpp.

Constructor & Destructor Documentation

fovis::GridKeyPointFilter::GridKeyPointFilter	(	int	img_width,
		int	img_height,
		int	bucket_width,
		int	bucket_height,
		int	max_keypoints_per_bucket
	)		`[inline]`

Construct a keypoint filter.

Conceptually, lays down a grid over the image and sorts keypoints into a grid cell based on their image locations. Then removes the weakest keypoints in each cell (using the Keypoint::score field) until there are at most max_keypoints_per_bucket in each grid cell.

Parameters:

img_width	the width of the input image.
img_height	the height of the input image.
bucket_width	the width of each bucket.
bucket_height	the height of each bucket.
max_keypoints_per_bucket	the maximum number of keypoints in each grid cell after filtering.