Class for matching features between two sets of features. More...
#include <afeaturematcher.h>
Inheritance diagram for isae::AFeatureMatcher:
Public Member Functions | |
| AFeatureMatcher () | |
| AFeatureMatcher (std::shared_ptr< AFeatureDetector > detector) | |
| virtual uint | match (std::vector< std::shared_ptr< AFeature >> &features1, std::vector< std::shared_ptr< AFeature >> &features2, std::vector< std::shared_ptr< AFeature >> &features_init, vec_match &matches, vec_match &matches_with_ldmks, int searchAreaWidth=51, int searchAreaHeight=51) |
| Match features between two sets of features. More... | |
| virtual uint | ldmk_match (std::shared_ptr< ImageSensor > &sensor1, std::vector< std::shared_ptr< ALandmark >> &ldmks, int searchAreaWidth=51, int searchAreaHeight=51) |
| Match landmarks with features in a given sensor. More... | |
Protected Member Functions | |
| virtual void | getPossibleMatchesBetween (const std::vector< std::shared_ptr< AFeature >> &features1, const std::vector< std::shared_ptr< AFeature >> &features2, const std::vector< std::shared_ptr< AFeature >> &features_init, const uint &searchAreaWidth, const uint &searchAreaHeight, vec_feat_matches &matches, vec_feat_matches_scores &all_scores) |
| Get possible matches between two sets of features. More... | |
| vec_match | filterMatches (vec_feat_matches &matches12, vec_feat_matches &matches21, vec_feat_matches_scores &all_scores12, vec_feat_matches_scores &all_scores21) |
| Filter matches based on the first and second best match scores. More... | |
Protected Attributes | |
| std::shared_ptr< AFeatureDetector > | _detector |
| feature detector for distance measurement More... | |
| double | _first_second_match_score_ratio |
| ratio between the first and second best match score to consider a match valid More... | |
| std::string | _feature_label |
| label for the features being matched More... | |
Detailed Description
Class for matching features between two sets of features.
This class provides methods to match features between two sets of features, filter matches, and link landmarks. It uses a feature detector to compute distances between feature descriptors.
Constructor & Destructor Documentation
◆ AFeatureMatcher() [1/2]
|
inline |
◆ AFeatureMatcher() [2/2]
|
inline |
Member Function Documentation
◆ filterMatches()
|
protected |
Filter matches based on the first and second best match scores.
This method filters the matches based on the ratio of the first and second best match scores.
- Parameters
-
matches12 Matches from the first to the second set of features. matches21 Matches from the second to the first set of features. all_scores12 Scores of all matches from the first to the second set. all_scores21 Scores of all matches from the second to the first set.
- Returns
- A vector of filtered matches.
◆ getPossibleMatchesBetween()
|
protectedvirtual |
Get possible matches between two sets of features.
This method computes the matches between two sets of features based on their descriptors and spatial proximity.
- Parameters
-
features1 First set of features. features2 Second set of features. features_init Initial set of features for matching. searchAreaWidth Width of the search area for matching. searchAreaHeight Height of the search area for matching. matches Output vector to store matched features. all_scores Output vector to store scores of all matches.
◆ ldmk_match()
|
virtual |
Match landmarks with features in a given sensor.
- Parameters
-
sensor1 The sensor in which to match landmarks. ldmks Vector of landmarks to match. searchAreaWidth Width of the search area for matching (default is 51). searchAreaHeight Height of the search area for matching (default is 51).
- Returns
- The number of matched landmarks.
Reimplemented in isae::Line2DFeatureMatcher.
◆ match()
|
virtual |
Match features between two sets of features.
- Parameters
-
features1 First set of features. features2 Second set of features. features_init Initial set of features for matching. matches Output vector to store matched features. matches_with_ldmks Output vector to store matched features with landmarks. searchAreaWidth Width of the search area for matching (default is 51). searchAreaHeight Height of the search area for matching (default is 51).
- Returns
- The number of matched features.
Reimplemented in isae::Line2DFeatureMatcher.
Member Data Documentation
◆ _detector
|
protected |
feature detector for distance measurement
◆ _feature_label
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protected |
label for the features being matched
◆ _first_second_match_score_ratio
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protected |
Initial value:
=
0.9
ratio between the first and second best match score to consider a match valid
The documentation for this class was generated from the following files:
- /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/include/isaeslam/featurematchers/afeaturematcher.h
- /home/deos/ce.debeunne/colcon_ws/src/SaDVIO/cpp/src/featurematchers/afeaturematcher.cpp
