RobustMatcher Class Reference

Matches two sets of key-points and descriptors. More...

#include <robustmatcher.hpp>

List of all members.

Public Member Functions
cv::Mat	match (std::vector< cv::KeyPoint > &keypoints1, cv::Mat &descriptors1, std::vector< cv::KeyPoint > &keypoints2, cv::Mat &descriptors2, std::vector< cv::DMatch > &matches, bool doRansacTest=true, bool doRatioTest=false, bool refineF=false)
	Match feature points using symmetry test and RANSAC.
cv::Mat	ransacTest (const std::vector< cv::DMatch > &matches, const std::vector< cv::KeyPoint > &keypoints1, const std::vector< cv::KeyPoint > &keypoints2, std::vector< cv::DMatch > &outMatches)
	Identify good matches using RANSAC.
int	ratioTest (std::vector< std::vector< cv::DMatch > > &matches)
	Clear matches for which NN ratio is greater than threshold The corresponding entries in the vector of matches are cleared.
	RobustMatcher (void)
	Constructor.
void	symmetryTest (const std::vector< std::vector< cv::DMatch > > &matches1, const std::vector< std::vector< cv::DMatch > > &matches2, std::vector< cv::DMatch > &symMatches)
	Checks that matches are present both ways.
Private Attributes
double	confidence_
double	distance_
cv::BFMatcher	matcher_
float	ratio_
bool	refineF_

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Detailed Description

Matches two sets of key-points and descriptors.

Definition at line 53 of file robustmatcher.hpp.

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Constructor & Destructor Documentation

RobustMatcher::RobustMatcher

(

void

)

[inline]

Constructor.

Definition at line 58 of file robustmatcher.hpp.

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Member Function Documentation

cv::Mat RobustMatcher::match	(	std::vector< cv::KeyPoint > &	keypoints1,
		cv::Mat &	descriptors1,
		std::vector< cv::KeyPoint > &	keypoints2,
		cv::Mat &	descriptors2,
		std::vector< cv::DMatch > &	matches,
		bool	doRansacTest = true,
		bool	doRatioTest = false,
		bool	refineF = false
	)		[inline]

Match feature points using symmetry test and RANSAC.

Parameters:

[in]	keypoints1	Set of key-points from first image
[in]	descriptors1	Set of feature descriptors from first image
[in]	keypoints2	Set of key-points from second image
[in]	descriptors2	Set of feature descriptors from second image
[out]	matches	Resulting robust matches between the first and second images
[in]	doRansacTest	If true, perform RANSAC test to matches
[in]	doRatioTest	If true, perform ratio test to matches
[in]	refineF	If true, refine fundamental matrix

Returns:

Fundamental matrix

Definition at line 79 of file robustmatcher.hpp.

cv::Mat RobustMatcher::ransacTest	(	const std::vector< cv::DMatch > &	matches,
		const std::vector< cv::KeyPoint > &	keypoints1,
		const std::vector< cv::KeyPoint > &	keypoints2,
		std::vector< cv::DMatch > &	outMatches
	)		[inline]

Identify good matches using RANSAC.

Parameters:

[in]	matches	Input matches between images 1 and 2
[in]	keypoints1	Key-points from image 1
[in]	keypoints2	Key-points from image 2
[out]	outMatches	Surviving matches after RANSAC test

Returns:

Fundamental matrix

Definition at line 187 of file robustmatcher.hpp.

int RobustMatcher::ratioTest

(

std::vector< std::vector< cv::DMatch > > &

matches

)

[inline]

Clear matches for which NN ratio is greater than threshold The corresponding entries in the vector of matches are cleared.

Parameters:

matches

Vector of matches

Returns:

Number of removed points

Definition at line 122 of file robustmatcher.hpp.

void RobustMatcher::symmetryTest	(	const std::vector< std::vector< cv::DMatch > > &	matches1,
		const std::vector< std::vector< cv::DMatch > > &	matches2,
		std::vector< cv::DMatch > &	symMatches
	)		[inline]

Checks that matches are present both ways.

Parameters:

[in]	matches1	Matched points in one direction
[in]	matches2	Matched points in the opposite direction
[out]	symMatches	Output symmetrical matches

Definition at line 151 of file robustmatcher.hpp.

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Member Data Documentation

double RobustMatcher::confidence_ [private]

Confidence level (probability)

Definition at line 262 of file robustmatcher.hpp.

double RobustMatcher::distance_ [private]

Min distance to epipolar in RANSAC

Definition at line 261 of file robustmatcher.hpp.

cv::BFMatcher RobustMatcher::matcher_ [private]

Bruteforce matcher

Definition at line 263 of file robustmatcher.hpp.

float RobustMatcher::ratio_ [private]

Max ratio between 1st and 2nd nearest neighbor

Definition at line 259 of file robustmatcher.hpp.

bool RobustMatcher::refineF_ [private]

If true the F matrix will be refined

Definition at line 260 of file robustmatcher.hpp.

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

• robustmatcher.hpp