svo::Matcher Class Reference

Patch-matcher for reprojection-matching and epipolar search in triangulation. More...

#include <matcher.h>

List of all members.

Classes
struct	Options
Public Types
typedef vk::patch_score::ZMSSD < halfpatch_size_ >	PatchScore
Public Member Functions
	Matcher ()
	~Matcher ()
bool	findMatchDirect (const Point &pt, const Frame &frame, Vector2d &px_cur)
	Find a match by directly applying subpix refinement.
bool	findEpipolarMatchDirect (const Frame &ref_frame, const Frame &cur_frame, const Feature &ref_ftr, const double d_estimate, const double d_min, const double d_max, double &depth)
	Find a match by searching along the epipolar line without using any features.
void	createPatchFromPatchWithBorder ()
Public Attributes
struct svo::Matcher::Options	options_
uint8_t *	patch_
uint8_t *	patch_with_border_
Matrix2d	A_cur_ref_
	affine warp matrix
Vector2d	epi_dir_
double	epi_length_
	length of epipolar line segment in pixels (only used for epipolar search)
double	h_inv_
	hessian of 1d image alignment along epipolar line
int	search_level_
bool	reject_
Feature *	ref_ftr_
Vector2d	px_cur_
Static Public Attributes
static const int	halfpatch_size_ = 4
static const int	patch_size_ = 8

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Detailed Description

Patch-matcher for reprojection-matching and epipolar search in triangulation.

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Member Typedef Documentation

typedef vk::patch_score::ZMSSD<halfpatch_size_> svo::Matcher::PatchScore

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Constructor & Destructor Documentation

svo::Matcher::Matcher

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svo::Matcher::~Matcher

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Member Function Documentation

void svo::Matcher::createPatchFromPatchWithBorder

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bool svo::Matcher::findEpipolarMatchDirect	(	const Frame &	ref_frame,
		const Frame &	cur_frame,
		const Feature &	ref_ftr,
		const double	d_estimate,
		const double	d_min,
		const double	d_max,
		double &	depth
	)

Find a match by searching along the epipolar line without using any features.

bool svo::Matcher::findMatchDirect	(	const Point &	pt,
		const Frame &	frame,
		Vector2d &	px_cur
	)

Find a match by directly applying subpix refinement.

IMPORTANT! This function assumes that px_cur is already set to an estimate that is within ~2-3 pixel of the final result!

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Member Data Documentation

Matrix2d svo::Matcher::A_cur_ref_

affine warp matrix

Vector2d svo::Matcher::epi_dir_

double svo::Matcher::epi_length_

length of epipolar line segment in pixels (only used for epipolar search)

double svo::Matcher::h_inv_

hessian of 1d image alignment along epipolar line

const int svo::Matcher::halfpatch_size_ = 4 [static]

struct svo::Matcher::Options svo::Matcher::options_

uint8_t* svo::Matcher::patch_

const int svo::Matcher::patch_size_ = 8 [static]

uint8_t* svo::Matcher::patch_with_border_

Vector2d svo::Matcher::px_cur_

Feature* svo::Matcher::ref_ftr_

bool svo::Matcher::reject_

int svo::Matcher::search_level_

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

• include/svo/matcher.h