an interface for 1-1 matching between lists of things. More...

#include <MatchingAlgorithm.hpp>

Inheritance diagram for okvis::MatchingAlgorithm:

Public Types
typedef std::shared_ptr < MatchingAlgorithm >	Ptr

typedef std::multimap< size_t, size_t >	listB_tree_structure_t
	Tree data structure for image space restricted matching mapping from image row to list of features (indices!) More...

Public Member Functions
	MatchingAlgorithm ()

virtual	~MatchingAlgorithm ()

virtual void	doSetup ()
	This will be called exactly once for each call to DenseMatcher::match() More...

virtual size_t	sizeA () const =0
	What is the size of list A? More...

virtual size_t	sizeB () const =0
	What is the size of list B? More...

virtual listB_tree_structure_t::iterator	getListBStartIterator (size_t indexA)
	Get begin iterator for elements of listB to be matched against the given element from list A (indexA) for a given index of listA, get an iterator into the listB multimap to the start of all elements in listB that should be matched against indexA note: implement this in your matching algorithm subclass. More...

virtual listB_tree_structure_t::iterator	getListBEndIterator (size_t indexA)
	Get end iterator for elements of listB to be matched against the given element from list A (indexA) for a given index of listA, get an iterator into the listB multimap to the end of all elements in listB that should be matched against indexA. More...

virtual float	distanceThreshold () const
	Distances above this threshold will not be returned as matches. More...

virtual float	distanceRatioThreshold () const
	By which factor does the first best match has to be better than the second best one. More...

virtual bool	skipA (size_t) const
	Should we skip the item in list A? This will be called once for each item in the list. More...

virtual bool	skipB (size_t) const
	Should we skip the item in list B? This will be called many times. More...

virtual float	distance (size_t indexA, size_t indexB) const =0
	The "distance" between the two points. For points that absolutely don't match. Please use float max. More...

virtual void	reserveMatches (size_t numMatches)=0
	A function that tells you how many times setBestMatch() will be called. More...

virtual void	setBestMatch (size_t indexA, size_t indexB, double distance)=0
	At the end of the matching step, this function is called once for each pair of matches discovered. More...

float	matchFailed () const
	What to return if the match failed. More...

Private Attributes
listB_tree_structure_t	dummy_

Detailed Description

an interface for 1-1 matching between lists of things.

This superclass defines the interface for a matching algorithm. Users of the DenseMatcher can implement a child class or simply reimplement the interface and call the templated function in the dense matcher.

Member Typedef Documentation

typedef std::multimap<size_t, size_t> okvis::MatchingAlgorithm::listB_tree_structure_t

Tree data structure for image space restricted matching mapping from image row to list of features (indices!)

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

Constructor & Destructor Documentation

okvis::MatchingAlgorithm::MatchingAlgorithm ( )

okvis::MatchingAlgorithm::~MatchingAlgorithm ( )

virtual

Member Function Documentation

virtual float okvis::MatchingAlgorithm::distance	(	size_t	indexA,
		size_t	indexB
	)		const

pure virtual

The "distance" between the two points. For points that absolutely don't match. Please use float max.

Implemented in okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >, and TestMatchingAlgorithm.

virtual float okvis::MatchingAlgorithm::distanceRatioThreshold ( ) const

inlinevirtual

By which factor does the first best match has to be better than the second best one.

Reimplemented in TestMatchingAlgorithm.

virtual float okvis::MatchingAlgorithm::distanceThreshold ( ) const

inlinevirtual

Distances above this threshold will not be returned as matches.

Reimplemented in okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >, and TestMatchingAlgorithm.

virtual void okvis::MatchingAlgorithm::doSetup ( )

inlinevirtual

This will be called exactly once for each call to DenseMatcher::match()

Reimplemented in okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >, and TestMatchingAlgorithm.

MatchingAlgorithm::listB_tree_structure_t::iterator okvis::MatchingAlgorithm::getListBEndIterator ( size_t indexA )

virtual

Get end iterator for elements of listB to be matched against the given element from list A (indexA) for a given index of listA, get an iterator into the listB multimap to the end of all elements in listB that should be matched against indexA.

MatchingAlgorithm::listB_tree_structure_t::iterator okvis::MatchingAlgorithm::getListBStartIterator ( size_t indexA )

virtual

Get begin iterator for elements of listB to be matched against the given element from list A (indexA) for a given index of listA, get an iterator into the listB multimap to the start of all elements in listB that should be matched against indexA note: implement this in your matching algorithm subclass.

float okvis::MatchingAlgorithm::matchFailed ( ) const

inline

What to return if the match failed.

virtual void okvis::MatchingAlgorithm::reserveMatches ( size_t numMatches )

pure virtual

A function that tells you how many times setBestMatch() will be called.

Implemented in okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >, and TestMatchingAlgorithm.