fovis::FeatureMatch Class Reference

Represents a single image feature matched between two camera images taken at different times. More...

#include <feature_match.hpp>

List of all members.

Public Member Functions
	FeatureMatch ()
	FeatureMatch (KeypointData *target_keypoint, KeypointData *ref_keypoint)
Public Attributes
int	compatibility_degree
std::vector< int >	consistency_vec
int	id
bool	in_maximal_clique
bool	inlier
KeypointData *	ref_keypoint
KeypointData	refined_target_keypoint
double	reprojection_error
MatchStatusCode	status
KeypointData *	target_keypoint
int	track_id

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Detailed Description

Represents a single image feature matched between two camera images taken at different times.

The two frames are referred to as the reference and target frames.

Definition at line 41 of file feature_match.hpp.

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Constructor & Destructor Documentation

fovis::FeatureMatch::FeatureMatch

(

)

[inline]

Initializes a NULL (and useless) feature match.

Definition at line 50 of file feature_match.hpp.

fovis::FeatureMatch::FeatureMatch	(	KeypointData *	target_keypoint,
		KeypointData *	ref_keypoint
	)		[inline]

Initializes a feature match from a target and reference keypoint.

Definition at line 64 of file feature_match.hpp.

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Member Data Documentation

int fovis::FeatureMatch::compatibility_degree

number of 1s in consistency_vec

Definition at line 102 of file feature_match.hpp.

std::vector<int> fovis::FeatureMatch::consistency_vec

binary vector, one entry for every feature match. Each entry is 1 if the motion according to this match is compatible with the motion according to the other match.

Definition at line 97 of file feature_match.hpp.

int fovis::FeatureMatch::id

Identifies the match during outlier rejection.

Definition at line 117 of file feature_match.hpp.

bool fovis::FeatureMatch::in_maximal_clique

Is this feature match in the maximal consistency clique

Definition at line 107 of file feature_match.hpp.

bool fovis::FeatureMatch::inlier

Is this feature an inlier, used for motion estimation

Definition at line 112 of file feature_match.hpp.

KeypointData* fovis::FeatureMatch::ref_keypoint

The reference keypoint.

Definition at line 84 of file feature_match.hpp.

KeypointData fovis::FeatureMatch::refined_target_keypoint

The target keypoint, after subpixel refinement of the feature match in image space.

Definition at line 90 of file feature_match.hpp.

double fovis::FeatureMatch::reprojection_error

The image-space distance between the reference keypoint and the target keypoint reprojected onto the reference image.

Definition at line 123 of file feature_match.hpp.

MatchStatusCode fovis::FeatureMatch::status

status of the feature match. Value is one of: MATCH_NEEDS_DEPTH_REFINEMENT, MATCH_OK, or MATCH_REFINEMENT_FAILED.

Definition at line 138 of file feature_match.hpp.

KeypointData* fovis::FeatureMatch::target_keypoint

The target keypoint.

Definition at line 79 of file feature_match.hpp.

int fovis::FeatureMatch::track_id

Identifies the feature track externally. If a feature in a new frame is matched to a feature in the previous frame, then the corresponding FeatureMatch object takes on the track_id value of the FeatureMatch object for the previous frame feature. If the previous frame feature is new (i.e., wasn't matched to a feature in the previous-previous frame), then the track_id is set to a new value.

Definition at line 133 of file feature_match.hpp.

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The documentation for this class was generated from the following file:

• feature_match.hpp