okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T > Class Template Reference

A MatchingAlgorithm implementation. More...

#include <VioKeyframeWindowMatchingAlgorithm.hpp>

Inheritance diagram for okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >:

Public Types
enum	MatchingTypes { Match3D2D = 1, Match2D2D = 2 }
Public Types inherited from okvis::MatchingAlgorithm
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
	VioKeyframeWindowMatchingAlgorithm (okvis::Estimator &estimator, int matchingType, float distanceThreshold, bool usePoseUncertainty=true)
	Constructor. More...
virtual	~VioKeyframeWindowMatchingAlgorithm ()
void	setFrames (uint64_t mfIdA, uint64_t mfIdB, size_t camIdA, size_t camIdB)
	Set which frames to match. More...
void	setMatchingType (int matchingType)
	Set the matching type. More...
virtual void	doSetup ()
	This will be called exactly once for each call to DenseMatcher::match(). More...
virtual size_t	sizeA () const
	What is the size of list A? More...
virtual size_t	sizeB () const
	What is the size of list B? More...
virtual float	distanceThreshold () const
	Get the distance threshold for which matches exceeding it will not be returned as matches. More...
void	setDistanceThreshold (float distanceThreshold)
	Set the distance threshold for which matches exceeding it will not be returned as matches. More...
virtual bool	skipA (size_t indexA) 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 indexB) 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
	Calculate the distance between two keypoints. More...
bool	verifyMatch (size_t indexA, size_t indexB) const
	Geometric verification of a match. More...
virtual void	reserveMatches (size_t numMatches)
	A function that tells you how many times setMatching() will be called. More...
virtual void	setBestMatch (size_t indexA, size_t indexB, double distance)
	At the end of the matching step, this function is called once for each pair of matches discovered. More...
size_t	numMatches ()
	Get the number of matches. More...
size_t	numUncertainMatches ()
	Get the number of uncertain matches. More...
const okvis::Matches &	getMatches () const
	access the matching result. More...
bool	isRelativeUncertaintyValid ()
	assess the validity of the relative uncertainty computation. More...
Public Member Functions inherited from okvis::MatchingAlgorithm
	MatchingAlgorithm ()
virtual	~MatchingAlgorithm ()
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	distanceRatioThreshold () const
	By which factor does the first best match has to be better than the second best one. More...
float	matchFailed () const
	What to return if the match failed. More...

Public Attributes
EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef CAMERA_GEOMETRY_T	camera_geometry_t

Private Member Functions
uint32_t	specificDescriptorDistance (const unsigned char *descriptorA, const unsigned char *descriptorB) const
	Calculates the distance between two descriptors. More...

Private Attributes
okvis::Estimator *	estimator_
	This is essentially the map. More...
float	distanceThreshold_
	Distances above this threshold will not be returned as matches. More...
size_t	numMatches_ = 0
	The number of matches. More...
size_t	numUncertainMatches_ = 0
	The number of uncertain matches. More...
double	fA_ = 0
	Focal length of camera used in frame A. More...
double	fB_ = 0
	Focal length of camera used in frame B. More...
int	matchingType_
	Stored the matching type. See MatchingTypes(). More...
Eigen::Matrix< double, Eigen::Dynamic, 2 >	projectionsIntoB_
	temporarily store all projections More...
Eigen::Matrix< double, Eigen::Dynamic, 2 >	projectionsIntoBUncertainties_
	temporarily store all projection uncertainties More...
std::vector< bool >	skipA_
	Should keypoint[index] in frame A be skipped. More...
std::vector< bool >	skipB_
	Should keypoint[index] in frame B be skipped. More...
Eigen::Vector3d	pA_W_
	Camera center of frame A. More...
Eigen::Vector3d	pB_W_
	Camera center of frame B. More...
std::vector< double >	raySigmasA_
	Temporarily store ray sigmas of frame A. More...
std::vector< double >	raySigmasB_
	Temporarily store ray sigmas of frame B. More...
okvis::triangulation::ProbabilisticStereoTriangulator < camera_geometry_t >	probabilisticStereoTriangulator_
	Stereo triangulator. More...
bool	validRelativeUncertainty_ = false
bool	usePoseUncertainty_ = false
Which frames to take
uint64_t	mfIdA_ = 0
uint64_t	mfIdB_ = 0
size_t	camIdA_ = 0
size_t	camIdB_ = 0
std::shared_ptr < okvis::MultiFrame >	frameA_
std::shared_ptr < okvis::MultiFrame >	frameB_
Store some transformations that are often used
use a fully relative formulation
okvis::kinematics::Transformation	T_CaCb_
okvis::kinematics::Transformation	T_CbCa_
okvis::kinematics::Transformation	T_SaCa_
okvis::kinematics::Transformation	T_SbCb_
okvis::kinematics::Transformation	T_WSa_
okvis::kinematics::Transformation	T_WSb_
okvis::kinematics::Transformation	T_SaW_
okvis::kinematics::Transformation	T_SbW_
okvis::kinematics::Transformation	T_WCa_
okvis::kinematics::Transformation	T_WCb_
okvis::kinematics::Transformation	T_CaW_
okvis::kinematics::Transformation	T_CbW_

Detailed Description

template<class CAMERA_GEOMETRY_T>
class okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >

A MatchingAlgorithm implementation.

Template Parameters

CAMERA_GEOMETRY_T

Camera geometry model. See also okvis::cameras::CameraBase.

Member Enumeration Documentation

template<class CAMERA_GEOMETRY_T >

enum okvis::VioKeyframeWindowMatchingAlgorithm::MatchingTypes

Enumerator
Match3D2D	Match 3D position of established landmarks to 2D keypoint position.
Match2D2D	Match 2D position of established landmarks to 2D keypoint position.

Constructor & Destructor Documentation

template<class CAMERA_GEOMETRY_T >

okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::VioKeyframeWindowMatchingAlgorithm	(	okvis::Estimator &	estimator,
		int	matchingType,
		float	distanceThreshold,
		bool	usePoseUncertainty = true
	)

Constructor.

Parameters

estimator	Estimator.
matchingType	Matching type. See MatchingTypes enum.
distanceThreshold	Descriptor distance threshold.
usePoseUncertainty	Use the pose uncertainty for matching.

template<class CAMERA_GEOMETRY_T >

okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::~VioKeyframeWindowMatchingAlgorithm ( )

virtual

Member Function Documentation

template<class CAMERA_GEOMETRY_T >

virtual float okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::distance ( size_t  indexA, size_t  indexB  ) const

inlinevirtual

Calculate the distance between two keypoints.

Parameters

indexA	Index of the first keypoint.
indexB	Index of the other keypoint.

Returns

Distance between the two keypoint descriptors.

Remarks

Points that absolutely don't match will return float::max.

Implements okvis::MatchingAlgorithm.

template<class CAMERA_GEOMETRY_T >

float okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::distanceThreshold ( ) const

virtual

Get the distance threshold for which matches exceeding it will not be returned as matches.

Reimplemented from okvis::MatchingAlgorithm.

template<class CAMERA_GEOMETRY_T >

void okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::doSetup ( )

virtual

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

Reimplemented from okvis::MatchingAlgorithm.

template<class CAMERA_GEOMETRY_T >

const okvis::Matches& okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::getMatches

(

)

const

access the matching result.

template<class CAMERA_GEOMETRY_T >

bool okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::isRelativeUncertaintyValid ( )

inline

assess the validity of the relative uncertainty computation.

template<class CAMERA_GEOMETRY_T >

size_t okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::numMatches

(

)

Get the number of matches.

template<class CAMERA_GEOMETRY_T >

size_t okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::numUncertainMatches

(

)

Get the number of uncertain matches.

template<class CAMERA_GEOMETRY_T >

void okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::reserveMatches ( size_t  numMatches )

virtual

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

Warning

Currently not implemented to do anything.

Implements okvis::MatchingAlgorithm.

template<class CAMERA_GEOMETRY_T >

void okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::setBestMatch ( size_t  indexA, size_t  indexB, double  distance  )

virtual

At the end of the matching step, this function is called once for each pair of matches discovered.

Implements okvis::MatchingAlgorithm.

template<class CAMERA_GEOMETRY_T >

void okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::setDistanceThreshold

(

float

distanceThreshold

)

Set the distance threshold for which matches exceeding it will not be returned as matches.

template<class CAMERA_GEOMETRY_T >

void okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::setFrames	(	uint64_t	mfIdA,
		uint64_t	mfIdB,
		size_t	camIdA,
		size_t	camIdB
	)

Set which frames to match.

Parameters

mfIdA	The multiframe ID to match against.
mfIdB	The new multiframe ID.
camIdA	ID of the frame inside multiframe A to match.
camIdB	ID of the frame inside multiframe B to match.

template<class CAMERA_GEOMETRY_T >

void okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::setMatchingType

(

int

matchingType

)

Set the matching type.

See Also

MatchingTypes

template<class CAMERA_GEOMETRY_T >

size_t okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::sizeA ( ) const

virtual

What is the size of list A?

Implements okvis::MatchingAlgorithm.

template<class CAMERA_GEOMETRY_T >

size_t okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::sizeB ( ) const

virtual

What is the size of list B?

Implements okvis::MatchingAlgorithm.

template<class CAMERA_GEOMETRY_T >

virtual bool okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::skipA ( size_t  indexA ) const

inlinevirtual

Should we skip the item in list A? This will be called once for each item in the list.

Reimplemented from okvis::MatchingAlgorithm.

template<class CAMERA_GEOMETRY_T >

virtual bool okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::skipB ( size_t  indexB ) const

inlinevirtual

Should we skip the item in list B? This will be called many times.

Reimplemented from okvis::MatchingAlgorithm.

template<class CAMERA_GEOMETRY_T >

uint32_t okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::specificDescriptorDistance ( const unsigned char *  descriptorA, const unsigned char *  descriptorB  ) const

inlineprivate

Calculates the distance between two descriptors.

template<class CAMERA_GEOMETRY_T >

bool okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::verifyMatch	(	size_t	indexA,
		size_t	indexB
	)		const

Geometric verification of a match.

Member Data Documentation

template<class CAMERA_GEOMETRY_T >

EIGEN_MAKE_ALIGNED_OPERATOR_NEW typedef CAMERA_GEOMETRY_T okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::camera_geometry_t

template<class CAMERA_GEOMETRY_T >

size_t okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::camIdA_ = 0

private

template<class CAMERA_GEOMETRY_T >

size_t okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::camIdB_ = 0

private

template<class CAMERA_GEOMETRY_T >

float okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::distanceThreshold_

private

Distances above this threshold will not be returned as matches.

template<class CAMERA_GEOMETRY_T >

okvis::Estimator* okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::estimator_

private

This is essentially the map.

template<class CAMERA_GEOMETRY_T >

double okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::fA_ = 0

private

Focal length of camera used in frame A.

template<class CAMERA_GEOMETRY_T >

double okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::fB_ = 0

private

Focal length of camera used in frame B.

template<class CAMERA_GEOMETRY_T >

std::shared_ptr<okvis::MultiFrame> okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::frameA_

private

template<class CAMERA_GEOMETRY_T >

std::shared_ptr<okvis::MultiFrame> okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::frameB_

private

template<class CAMERA_GEOMETRY_T >

int okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::matchingType_

private

Stored the matching type. See MatchingTypes().

template<class CAMERA_GEOMETRY_T >

uint64_t okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::mfIdA_ = 0

private

template<class CAMERA_GEOMETRY_T >

uint64_t okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::mfIdB_ = 0

private

template<class CAMERA_GEOMETRY_T >

size_t okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::numMatches_ = 0

private

The number of matches.

template<class CAMERA_GEOMETRY_T >

size_t okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::numUncertainMatches_ = 0

private

The number of uncertain matches.

template<class CAMERA_GEOMETRY_T >

Eigen::Vector3d okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::pA_W_

private

Camera center of frame A.

template<class CAMERA_GEOMETRY_T >

Eigen::Vector3d okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::pB_W_

private

Camera center of frame B.

template<class CAMERA_GEOMETRY_T >

okvis::triangulation::ProbabilisticStereoTriangulator<camera_geometry_t> okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::probabilisticStereoTriangulator_

private

Stereo triangulator.

template<class CAMERA_GEOMETRY_T >

Eigen::Matrix<double, Eigen::Dynamic, 2> okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::projectionsIntoB_

private

temporarily store all projections

template<class CAMERA_GEOMETRY_T >

Eigen::Matrix<double, Eigen::Dynamic, 2> okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::projectionsIntoBUncertainties_

private

temporarily store all projection uncertainties

template<class CAMERA_GEOMETRY_T >

std::vector<double> okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::raySigmasA_

private

Temporarily store ray sigmas of frame A.

template<class CAMERA_GEOMETRY_T >

std::vector<double> okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::raySigmasB_

private

Temporarily store ray sigmas of frame B.

template<class CAMERA_GEOMETRY_T >

std::vector<bool> okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::skipA_

private

Should keypoint[index] in frame A be skipped.

template<class CAMERA_GEOMETRY_T >

std::vector<bool> okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::skipB_

private

Should keypoint[index] in frame B be skipped.

template<class CAMERA_GEOMETRY_T >

okvis::kinematics::Transformation okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::T_CaCb_

private

template<class CAMERA_GEOMETRY_T >

okvis::kinematics::Transformation okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::T_CaW_

private

template<class CAMERA_GEOMETRY_T >

okvis::kinematics::Transformation okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::T_CbCa_

private

template<class CAMERA_GEOMETRY_T >

okvis::kinematics::Transformation okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::T_CbW_

private

template<class CAMERA_GEOMETRY_T >

okvis::kinematics::Transformation okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::T_SaCa_

private

template<class CAMERA_GEOMETRY_T >

okvis::kinematics::Transformation okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::T_SaW_

private

template<class CAMERA_GEOMETRY_T >

okvis::kinematics::Transformation okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::T_SbCb_

private

template<class CAMERA_GEOMETRY_T >

okvis::kinematics::Transformation okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::T_SbW_

private

template<class CAMERA_GEOMETRY_T >

okvis::kinematics::Transformation okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::T_WCa_

private

template<class CAMERA_GEOMETRY_T >

okvis::kinematics::Transformation okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::T_WCb_

private

template<class CAMERA_GEOMETRY_T >

okvis::kinematics::Transformation okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::T_WSa_

private

template<class CAMERA_GEOMETRY_T >

okvis::kinematics::Transformation okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::T_WSb_

private

template<class CAMERA_GEOMETRY_T >

bool okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::usePoseUncertainty_ = false

private

template<class CAMERA_GEOMETRY_T >

bool okvis::VioKeyframeWindowMatchingAlgorithm< CAMERA_GEOMETRY_T >::validRelativeUncertainty_ = false

private

---

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

• okvis/okvis_frontend/include/okvis/VioKeyframeWindowMatchingAlgorithm.hpp
• okvis/okvis_frontend/src/VioKeyframeWindowMatchingAlgorithm.cpp