#include <matcher.h>

Classes
struct	delta
struct	maximum
struct	p_match
struct	parameters
struct	range
Public Member Functions
void	bucketFeatures (int32_t max_features, float bucket_width, float bucket_height)
float	getGain (std::vector< int32_t > inliers)
std::vector< Matcher::p_match >	getMatches ()
	Matcher (parameters param)
void	matchFeatures (int32_t method, Matrix *Tr_delta=0)
void	pushBack (uint8_t I1, uint8_t I2, int32_t *dims, const bool replace)
void	pushBack (uint8_t I1, int32_t dims, const bool replace)
void	setIntrinsics (double f, double cu, double cv, double base)
	~Matcher ()
Private Member Functions
void	computeDescriptor (const uint8_t I_du, const uint8_t I_dv, const int32_t &bpl, const int32_t &u, const int32_t &v, uint8_t *desc_addr)
void	computeDescriptors (uint8_t I_du, uint8_t I_dv, const int32_t bpl, std::vector< Matcher::maximum > &maxima)
void	computeFeatures (uint8_t I, const int32_t dims, int32_t &max1, int32_t &num1, int32_t &max2, int32_t &num2, uint8_t &I_du, uint8_t &I_dv, uint8_t &I_du_full, uint8_t &I_dv_full)
void	computePriorStatistics (std::vector< Matcher::p_match > &p_matched, int32_t method)
void	computeSmallDescriptor (const uint8_t I_du, const uint8_t I_dv, const int32_t &bpl, const int32_t &u, const int32_t &v, uint8_t *desc_addr)
uint8_t *	createHalfResolutionImage (uint8_t I, const int32_t dims)
void	createIndexVector (int32_t m, int32_t n, std::vector< int32_t > k, const int32_t &u_bin_num, const int32_t &v_bin_num)
void	filterImageAll (uint8_t I, uint8_t I_du, uint8_t I_dv, int16_t I_f1, int16_t I_f2, const int dims)
void	filterImageSobel (uint8_t I, uint8_t I_du, uint8_t I_dv, const int dims)
void	findMatch (int32_t m1, const int32_t &i1, int32_t m2, const int32_t &step_size, std::vector< int32_t > *k2, const int32_t &u_bin_num, const int32_t &v_bin_num, const int32_t &stat_bin, int32_t &min_ind, int32_t stage, bool flow, bool use_prior, double u_=-1, double v_=-1)
int32_t	getAddressOffsetImage (const int32_t &u, const int32_t &v, const int32_t &width)
void	getHalfResolutionDimensions (const int32_t dims, int32_t dims_half)
void	matching (int32_t m1p, int32_t m2p, int32_t m1c, int32_t m2c, int32_t n1p, int32_t n2p, int32_t n1c, int32_t n2c, std::vector< Matcher::p_match > &p_matched, int32_t method, bool use_prior, Matrix *Tr_delta=0)
float	mean (const uint8_t *I, const int32_t &bpl, const int32_t &u_min, const int32_t &u_max, const int32_t &v_min, const int32_t &v_max)
void	nonMaximumSuppression (int16_t I_f1, int16_t I_f2, const int32_t *dims, std::vector< Matcher::maximum > &maxima, int32_t nms_n)
bool	parabolicFitting (const uint8_t I1_du, const uint8_t I1_dv, const int32_t dims1, const uint8_t I2_du, const uint8_t I2_dv, const int32_t dims2, const float &u1, const float &v1, float &u2, float &v2, Matrix At, Matrix AtA, uint8_t *desc_buffer)
void	refinement (std::vector< Matcher::p_match > &p_matched, int32_t method)
void	relocateMinimum (const uint8_t I1_du, const uint8_t I1_dv, const int32_t dims1, const uint8_t I2_du, const uint8_t I2_dv, const int32_t dims2, const float &u1, const float &v1, float &u2, float &v2, uint8_t *desc_buffer)
void	removeOutliers (std::vector< Matcher::p_match > &p_matched, int32_t method)
uint8_t	saturate (int16_t in)
Private Attributes
int32_t	dims_c [3]
int32_t	dims_p [3]
uint8_t *	I1c
uint8_t *	I1c_du
uint8_t *	I1c_du_full
uint8_t *	I1c_dv
uint8_t *	I1c_dv_full
uint8_t *	I1p
uint8_t *	I1p_du
uint8_t *	I1p_du_full
uint8_t *	I1p_dv
uint8_t *	I1p_dv_full
uint8_t *	I2c
uint8_t *	I2c_du
uint8_t *	I2c_du_full
uint8_t *	I2c_dv
uint8_t *	I2c_dv_full
uint8_t *	I2p
uint8_t *	I2p_du
uint8_t *	I2p_du_full
uint8_t *	I2p_dv
uint8_t *	I2p_dv_full
int32_t *	m1c1
int32_t *	m1c2
int32_t *	m1p1
int32_t *	m1p2
int32_t *	m2c1
int32_t *	m2c2
int32_t *	m2p1
int32_t *	m2p2
int32_t	margin
int32_t	n1c1
int32_t	n1c2
int32_t	n1p1
int32_t	n1p2
int32_t	n2c1
int32_t	n2c2
int32_t	n2p1
int32_t	n2p2
std::vector< Matcher::p_match >	p_matched_1
std::vector< Matcher::p_match >	p_matched_2
parameters	param
std::vector< Matcher::range >	ranges

Detailed Description

Definition at line 36 of file matcher.h.

Constructor & Destructor Documentation

Matcher::Matcher ( parameters param )

Definition at line 33 of file matcher.cpp.

Matcher::~Matcher ( )

Definition at line 64 of file matcher.cpp.

Member Function Documentation

void Matcher::bucketFeatures	(	int32_t	max_features,
		float	bucket_width,
		float	bucket_height
	)

Definition at line 243 of file matcher.cpp.

void Matcher::computeDescriptor	(	const uint8_t *	I_du,
		const uint8_t *	I_dv,
		const int32_t &	bpl,
		const int32_t &	u,
		const int32_t &	v,
		uint8_t *	desc_addr
	)		`[inline, private]`

Definition at line 433 of file matcher.cpp.

void Matcher::computeDescriptors	(	uint8_t *	I_du,
		uint8_t *	I_dv,
		const int32_t	bpl,
		std::vector< Matcher::maximum > &	maxima
	)		`[private]`

Definition at line 508 of file matcher.cpp.

void Matcher::computeFeatures	(	uint8_t *	I,
		const int32_t *	dims,
		int32_t *&	max1,
		int32_t &	num1,
		int32_t *&	max2,
		int32_t &	num2,
		uint8_t *&	I_du,
		uint8_t *&	I_dv,
		uint8_t *&	I_du_full,
		uint8_t *&	I_dv_full
	)		`[private]`

Definition at line 649 of file matcher.cpp.

void Matcher::computePriorStatistics	(	std::vector< Matcher::p_match > &	p_matched,
		int32_t	method
	)		`[private]`

Definition at line 734 of file matcher.cpp.

void Matcher::computeSmallDescriptor	(	const uint8_t *	I_du,
		const uint8_t *	I_dv,
		const int32_t &	bpl,
		const int32_t &	u,
		const int32_t &	v,
		uint8_t *	desc_addr
	)		`[inline, private]`

Definition at line 479 of file matcher.cpp.

uint8_t * Matcher::createHalfResolutionImage	(	uint8_t *	I,
		const int32_t *	dims
	)		`[private]`

Definition at line 636 of file matcher.cpp.

void Matcher::createIndexVector	(	int32_t *	m,
		int32_t	n,
		std::vector< int32_t > *	k,
		const int32_t &	u_bin_num,
		const int32_t &	v_bin_num
	)		`[private]`

Definition at line 870 of file matcher.cpp.

void Matcher::filterImageAll	(	uint8_t *	I,
		uint8_t *	I_du,
		uint8_t *	I_dv,
		int16_t *	I_f1,
		int16_t *	I_f2,
		const int *	dims
	)		`[private]`

Definition at line 529 of file matcher.cpp.

void Matcher::filterImageSobel	(	uint8_t *	I,
		uint8_t *	I_du,
		uint8_t *	I_dv,
		const int *	dims
	)		`[private]`

Definition at line 594 of file matcher.cpp.

void Matcher::findMatch	(	int32_t *	m1,
		const int32_t &	i1,
		int32_t *	m2,
		const int32_t &	step_size,
		std::vector< int32_t > *	k2,
		const int32_t &	u_bin_num,
		const int32_t &	v_bin_num,
		const int32_t &	stat_bin,
		int32_t &	min_ind,
		int32_t	stage,
		bool	flow,
		bool	use_prior,
		double	u_ = `-1`,
		double	v_ = `-1`
	)		`[inline, private]`

Definition at line 892 of file matcher.cpp.

int32_t Matcher::getAddressOffsetImage	(	const int32_t &	u,
		const int32_t &	v,
		const int32_t &	width
	)		`[inline, private]`

Definition at line 168 of file matcher.h.

float Matcher::getGain ( std::vector< int32_t > inliers )

Definition at line 286 of file matcher.cpp.

void Matcher::getHalfResolutionDimensions	(	const int32_t *	dims,
		int32_t *	dims_half
	)		`[private]`

Definition at line 630 of file matcher.cpp.

std::vector<Matcher::p_match> Matcher::getMatches ( ) [inline]

Definition at line 130 of file matcher.h.

void Matcher::matchFeatures	(	int32_t	method,
		Matrix *	Tr_delta = `0`
	)

Definition at line 183 of file matcher.cpp.

void Matcher::matching	(	int32_t *	m1p,
		int32_t *	m2p,
		int32_t *	m1c,
		int32_t *	m2c,
		int32_t	n1p,
		int32_t	n2p,
		int32_t	n1c,
		int32_t	n2c,
		std::vector< Matcher::p_match > &	p_matched,
		int32_t	method,
		bool	use_prior,
		Matrix *	Tr_delta = `0`
	)		`[private]`

Definition at line 966 of file matcher.cpp.

float Matcher::mean	(	const uint8_t *	I,
		const int32_t &	bpl,
		const int32_t &	u_min,
		const int32_t &	u_max,
		const int32_t &	v_min,
		const int32_t &	v_max
	)		`[inline, private]`

Definition at line 1586 of file matcher.cpp.

void Matcher::nonMaximumSuppression	(	int16_t *	I_f1,
		int16_t *	I_f2,
		const int32_t *	dims,
		std::vector< Matcher::maximum > &	maxima,
		int32_t	nms_n
	)		`[private]`

Definition at line 330 of file matcher.cpp.

bool Matcher::parabolicFitting	(	const uint8_t *	I1_du,
		const uint8_t *	I1_dv,
		const int32_t *	dims1,
		const uint8_t *	I2_du,
		const uint8_t *	I2_dv,
		const int32_t *	dims2,
		const float &	u1,
		const float &	v1,
		float &	u2,
		float &	v2,
		Matrix	At,
		Matrix	AtA,
		uint8_t *	desc_buffer
	)		`[private]`

Definition at line 1380 of file matcher.cpp.

void Matcher::pushBack	(	uint8_t *	I1,
		uint8_t *	I2,
		int32_t *	dims,
		const bool	replace
	)

Definition at line 95 of file matcher.cpp.

void Matcher::pushBack	(	uint8_t *	I1,
		int32_t *	dims,
		const bool	replace
	)		`[inline]`

Definition at line 117 of file matcher.h.

void Matcher::refinement	(	std::vector< Matcher::p_match > &	p_matched,
		int32_t	method
	)		`[private]`

Definition at line 1497 of file matcher.cpp.

void Matcher::relocateMinimum	(	const uint8_t *	I1_du,
		const uint8_t *	I1_dv,
		const int32_t *	dims1,
		const uint8_t *	I2_du,
		const uint8_t *	I2_dv,
		const int32_t *	dims2,
		const float &	u1,
		const float &	v1,
		float &	u2,
		float &	v2,
		uint8_t *	desc_buffer
	)		`[private]`

Definition at line 1456 of file matcher.cpp.

void Matcher::removeOutliers	(	std::vector< Matcher::p_match > &	p_matched,
		int32_t	method
	)		`[private]`

Definition at line 1208 of file matcher.cpp.

uint8_t Matcher::saturate ( int16_t in ) [inline, private]

Definition at line 523 of file matcher.cpp.

void Matcher::setIntrinsics	(	double	f,
		double	cu,
		double	cv,
		double	base
	)		`[inline]`

Definition at line 77 of file matcher.h.

Member Data Documentation

int32_t Matcher::dims_c[3] [private]

Definition at line 240 of file matcher.h.

int32_t Matcher::dims_p[3] [private]

Definition at line 240 of file matcher.h.

uint8_t * Matcher::I1c [private]

Definition at line 235 of file matcher.h.

uint8_t * Matcher::I1c_du [private]

Definition at line 236 of file matcher.h.

uint8_t * Matcher::I1c_du_full [private]

Definition at line 238 of file matcher.h.

uint8_t * Matcher::I1c_dv [private]

Definition at line 237 of file matcher.h.

uint8_t * Matcher::I1c_dv_full [private]

Definition at line 239 of file matcher.h.

uint8_t* Matcher::I1p [private]

Definition at line 235 of file matcher.h.

uint8_t* Matcher::I1p_du [private]

Definition at line 236 of file matcher.h.

uint8_t* Matcher::I1p_du_full [private]

Definition at line 238 of file matcher.h.

uint8_t* Matcher::I1p_dv [private]

Definition at line 237 of file matcher.h.

uint8_t* Matcher::I1p_dv_full [private]

Definition at line 239 of file matcher.h.

uint8_t * Matcher::I2c [private]

Definition at line 235 of file matcher.h.

uint8_t * Matcher::I2c_du [private]

Definition at line 236 of file matcher.h.

uint8_t * Matcher::I2c_du_full [private]

Definition at line 238 of file matcher.h.

uint8_t * Matcher::I2c_dv [private]

Definition at line 237 of file matcher.h.

uint8_t * Matcher::I2c_dv_full [private]

Definition at line 239 of file matcher.h.

uint8_t * Matcher::I2p [private]

Definition at line 235 of file matcher.h.

uint8_t * Matcher::I2p_du [private]

Definition at line 236 of file matcher.h.

uint8_t * Matcher::I2p_du_full [private]

Definition at line 238 of file matcher.h.

uint8_t * Matcher::I2p_dv [private]

Definition at line 237 of file matcher.h.

uint8_t * Matcher::I2p_dv_full [private]

Definition at line 239 of file matcher.h.

int32_t * Matcher::m1c1 [private]

Definition at line 231 of file matcher.h.

int32_t * Matcher::m1c2 [private]

Definition at line 232 of file matcher.h.

int32_t* Matcher::m1p1 [private]

Definition at line 231 of file matcher.h.

int32_t* Matcher::m1p2 [private]

Definition at line 232 of file matcher.h.

int32_t * Matcher::m2c1 [private]

Definition at line 231 of file matcher.h.

int32_t * Matcher::m2c2 [private]

Definition at line 232 of file matcher.h.

int32_t * Matcher::m2p1 [private]

Definition at line 231 of file matcher.h.

int32_t * Matcher::m2p2 [private]

Definition at line 232 of file matcher.h.

int32_t Matcher::margin [private]

Definition at line 229 of file matcher.h.

int32_t Matcher::n1c1 [private]

Definition at line 233 of file matcher.h.

int32_t Matcher::n1c2 [private]

Definition at line 234 of file matcher.h.

int32_t Matcher::n1p1 [private]

Definition at line 233 of file matcher.h.

int32_t Matcher::n1p2 [private]

Definition at line 234 of file matcher.h.

int32_t Matcher::n2c1 [private]

Definition at line 233 of file matcher.h.

int32_t Matcher::n2c2 [private]

Definition at line 234 of file matcher.h.

int32_t Matcher::n2p1 [private]

Definition at line 233 of file matcher.h.

int32_t Matcher::n2p2 [private]

Definition at line 234 of file matcher.h.

std::vector<Matcher::p_match> Matcher::p_matched_1 [private]

Definition at line 242 of file matcher.h.

std::vector<Matcher::p_match> Matcher::p_matched_2 [private]

Definition at line 243 of file matcher.h.

parameters Matcher::param [private]

Definition at line 228 of file matcher.h.

std::vector<Matcher::range> Matcher::ranges [private]

Definition at line 244 of file matcher.h.

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

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation