This class matches keypoints from two frames in parallel. More...

#include <DenseMatcher.hpp>

Classes
struct	MatchJob
	A data struct for the worker thread. More...

struct	Pairing
	A struct to save an index and distance pair. More...

Public Types
typedef std::shared_ptr < DenseMatcher >	Ptr

typedef float	distance_t

typedef DenseMatcher::Pairing	pairing_t

typedef std::vector< pairing_t >	pairing_list_t

Public Member Functions
	DenseMatcher (unsigned char numMatcherThreads=8, unsigned char numBest=4, bool useDistanceRatioThreshold=false)
	Initialize the dense matcher. More...

virtual	~DenseMatcher ()

template<typename MATCHING_ALGORITHM_T >
void	match (MATCHING_ALGORITHM_T &matchingAlgorithm)
	Execute a matching algorithm. This is the fast, templated version. Use this. More...

template<typename MATCHING_ALGORITHM_T >
void	matchInImageSpace (MATCHING_ALGORITHM_T &matchingAlgorithm)
	Execute a matching algorithm implementing image space matching (i.e. match landmarks with features in their image space vicinity) separate matching function for backwards compatability note: once a uniform implementation for the "old" matcher and the image space matching has been implemented these two methods (match, matchInImageSpace) may be merged into one. More...

void	matchSlow (MatchingAlgorithm &matchingAlgorithm)
	Execute a matching algorithm. This is the slow, runtime polymorphic version. Don't use this. More...

template<typename MATCHING_ALGORITHM_T >
void	matchBody (void(DenseMatcher::doWorkPtr)(MatchJob &, MATCHING_ALGORITHM_T ), MATCHING_ALGORITHM_T &matchingAlgorithm)
	This function creates all the matching threads and assigns the best matches afterwards. More...

template<typename MATCHING_ALGORITHM_T >
void	doWorkLinearMatching (MatchJob &my_job, MATCHING_ALGORITHM_T *matchingAlgorithm)
	The threading worker. This matches a keypoint with every other keypoint to find the best match. More...

template<typename MATCHING_ALGORITHM_T >
void	doWorkImageSpaceMatching (MatchJob &my_job, MATCHING_ALGORITHM_T *matchingAlgorithm)
	The threading worker. This matches a keypoint with only a subset of the other keypoints to find the best match. (From matchingAlgorithm->getListBStartIterator() to MatchingAlgorithm->getListBEndIterator(). More...

void	assignbest (int myIndexScored, pairing_list_t &vPairsWithScore, std::vector< std::vector< pairing_t > > &aiBestList, std::mutex *locks, int startidx)
	A recursive function that reassigns weak matches, if a stronger match is found for a particular point. More...

template<typename MATCHING_ALGORITHM_T >
void	listBIteration (MATCHING_ALGORITHM_T *matchingAlgorithm, std::vector< pairing_t > &aiBest, size_t shortindexA, size_t i)
	This calculates the distance between to keypoint descriptors. If it is better than the /e numBest_ found so far, it is included in the aiBest list. More...

Public Attributes
unsigned char	numMatcherThreads_
	The set number of threads. More...

unsigned char	numBest_
	The set number of best pairings to save. More...

bool	useDistanceRatioThreshold_
	Use ratio of best and second best match instead of absolute threshold. More...

std::unique_ptr < okvis::ThreadPool >	matcherThreadPool_
	The threads. More...

Detailed Description

This class matches keypoints from two frames in parallel.

Member Typedef Documentation

typedef float okvis::DenseMatcher::distance_t

typedef std::vector<pairing_t> okvis::DenseMatcher::pairing_list_t

typedef DenseMatcher::Pairing okvis::DenseMatcher::pairing_t

typedef std::shared_ptr<DenseMatcher> okvis::DenseMatcher::Ptr

Constructor & Destructor Documentation

okvis::DenseMatcher::DenseMatcher	(	unsigned char	numMatcherThreads = `8`,
		unsigned char	numBest = `4`,
		bool	useDistanceRatioThreshold = `false`
	)

Initialize the dense matcher.

Parameters

numMatcherThreads	Number of matcher threads.
numBest	The number of best matches to keep.
useDistanceRatioThreshold	Instead of using an absolute descriptor distance threshold, compare the smallest distance to the second smallest to decide whether to set it as a match.

okvis::DenseMatcher::~DenseMatcher ( )

virtual

Member Function Documentation

void okvis::DenseMatcher::assignbest	(	int	myIndexScored,
		pairing_list_t &	vPairsWithScore,
		std::vector< std::vector< pairing_t > > &	aiBestList,
		std::mutex *	locks,
		int	startidx
	)

A recursive function that reassigns weak matches, if a stronger match is found for a particular point.

Parameters

[in]	myIndexScored	The keypoint index that was scored with other keypoints.
[in,out]	vPairsWithScore	The distances to other keypoints that a single thread calculated.
[in,out]	aiBestList	The best matches so far.
	locks	The mutexes.
	startidx	Start the assigning at some index. Used for the recursion. Set to 0.

template<typename MATCHING_ALGORITHM_T >

void okvis::DenseMatcher::doWorkImageSpaceMatching	(	MatchJob &	my_job,
		MATCHING_ALGORITHM_T *	matchingAlgorithm
	)

The threading worker. This matches a keypoint with only a subset of the other keypoints to find the best match. (From matchingAlgorithm->getListBStartIterator() to MatchingAlgorithm->getListBEndIterator().

Template Parameters

MATCHING_ALGORITHM_T The algorithm to use. E.g. a class derived from MatchingAlgorithm.

Warning: The MATCHING_ALGORITHM_T class needs an implementatino of getListBStartIterator() and getListBEndIterator().

Parameters

my_job	Struct with information about the job.
matchingAlgorithm	The matching algorithm to use.

template<typename MATCHING_ALGORITHM_T >

void okvis::DenseMatcher::doWorkLinearMatching	(	MatchJob &	my_job,
		MATCHING_ALGORITHM_T *	matchingAlgorithm
	)

The threading worker. This matches a keypoint with every other keypoint to find the best match.

Template Parameters

MATCHING_ALGORITHM_T The algorithm to use. E.g. a class derived from MatchingAlgorithm.

Parameters

my_job	Struct with information about the job.
matchingAlgorithm	The matching algorithm to use.

template<typename MATCHING_ALGORITHM_T >

void okvis::DenseMatcher::listBIteration	(	MATCHING_ALGORITHM_T *	matchingAlgorithm,
		std::vector< pairing_t > &	aiBest,
		size_t	shortindexA,
		size_t	i
	)

inline

This calculates the distance between to keypoint descriptors. If it is better than the /e numBest_ found so far, it is included in the aiBest list.

Template Parameters

MATCHING_ALGORITHM_T The algorithm to use. E.g. a class derived from MatchingAlgorithm.

Parameters

	matchingAlgorithm	The matching algorithm to use.
[in,out]	aiBest	The numBest_ pairings found so far.
[in]	shortindexA	Keypoint index in frame A.
[in]	i	Keypoint index in frame B.

template<typename MATCHING_ALGORITHM_T >

void okvis::DenseMatcher::match ( MATCHING_ALGORITHM_T & matchingAlgorithm )

Execute a matching algorithm. This is the fast, templated version. Use this.

Template Parameters

MATCHING_ALGORITHM_T The algorithm to use. E.g. a class derived from MatchingAlgorithm

template<typename MATCHING_ALGORITHM_T >

void okvis::DenseMatcher::matchBody	(	void(DenseMatcher::)(MatchJob &, MATCHING_ALGORITHM_T )	doWorkPtr,
		MATCHING_ALGORITHM_T &	matchingAlgorithm
	)

This function creates all the matching threads and assigns the best matches afterwards.

Template Parameters

MATCHING_ALGORITHM_T The algorithm to use. E.g. a class derived from MatchingAlgorithm

Parameters

doWorkPtr	The function that the threads are going to run.
matchingAlgorithm	The matching algorithm.

template<typename MATCHING_ALGORITHM_T >

void okvis::DenseMatcher::matchInImageSpace ( MATCHING_ALGORITHM_T & matchingAlgorithm )

Execute a matching algorithm implementing image space matching (i.e. match landmarks with features in their image space vicinity) separate matching function for backwards compatability note: once a uniform implementation for the "old" matcher and the image space matching has been implemented these two methods (match, matchInImageSpace) may be merged into one.

void okvis::DenseMatcher::matchSlow ( MatchingAlgorithm & matchingAlgorithm )

Execute a matching algorithm. This is the slow, runtime polymorphic version. Don't use this.

Member Data Documentation

std::unique_ptr<okvis::ThreadPool> okvis::DenseMatcher::matcherThreadPool_

The threads.

unsigned char okvis::DenseMatcher::numBest_

The set number of best pairings to save.

unsigned char okvis::DenseMatcher::numMatcherThreads_

The set number of threads.

bool okvis::DenseMatcher::useDistanceRatioThreshold_

Use ratio of best and second best match instead of absolute threshold.

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

okvis/okvis_matcher/include/okvis/DenseMatcher.hpp
okvis/okvis_matcher/src/DenseMatcher.cpp

Classes

Public Types

Public Member Functions

Public Attributes

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation