#include <sparse_stereo.hpp>

Public Member Functions
	StereoFeatures ()

void	setCalibration (const frame_helper::StereoCalibration &calib)

void	setConfiguration (const FeatureConfiguration &config)

void	setDetectorConfiguration (const DetectorConfiguration &detector_config)

void	setDistanceImages (const base::samples::DistanceImage left, const base::samples::DistanceImage right)

void	processFramePair (const cv::Mat &left_image, const cv::Mat &right_image, StereoFeatureArray *stereo_features=NULL)

StereoFeatureArray &	getStereoFeatures ()

FeatureInfo &	getFeatureInfoLeft ()

FeatureInfo &	getFeatureInfoRight ()

void	calculateInterFrameCorrespondences (const StereoFeatureArray &frame1, const StereoFeatureArray &frame2, int filterMethod)

void	calculateInterFrameCorrespondences (const cv::Mat &feat1, const std::vector< cv::KeyPoint > &keyp1, const std::vector< Eigen::Vector3d > &points1, const cv::Mat &feat2, const std::vector< cv::KeyPoint > &keyp2, const std::vector< Eigen::Vector3d > &points2, int filterMethod)

std::vector< std::pair< long, long > >	getInterFrameCorrespondences ()

base::Affine3d	getInterFrameCorrespondenceTransform ()

const cv::Mat &	getDebugImage ()

cv::Mat	getInterFrameDebugImage (const cv::Mat &debug1, const StereoFeatureArray &frame1, const cv::Mat &debug2, const StereoFeatureArray &frame2, std::vector< std::pair< long, long > > *correspondence=NULL)

void	findFeatures (const cv::Mat &left_image, const cv::Mat &right_image, int use_threading=1, int crop_left=0, int crop_right=0)

bool	getPutativeStereoCorrespondences ()

bool	refineFeatureCorrespondences ()

void	calculateDepthInformationBetweenCorrespondences (StereoFeatureArray *stereo_features=NULL)

void	crossCheckMatching (const cv::Mat &descriptors1, const cv::Mat &descriptors2, std::vector< cv::DMatch > &filteredMatches12, int knn=1, float distanceFactor=2.0)

cv::Mat	getHomography ()

Protected Member Functions
void	initDetector (size_t lastNumFeatures)

void	findFeatures2 (const cv::Mat &image, FeatureInfo &info, bool left_frame=true, int crop_left=0, int crop_right=0)

void	findFeatures_threading (const cv::Mat &image, FeatureInfo &info, bool left_frame=true, int crop_left=0, int crop_right=0)

void	crossCheckMatching (std::vector< std::vector< cv::DMatch > > matches12, std::vector< std::vector< cv::DMatch > > matches21, std::vector< cv::DMatch > &filteredMatches12, int knn=1, float distanceFactor=2.0)

Protected Attributes
frame_helper::StereoCalibrationCv	calib

FeatureConfiguration	config

DetectorConfiguration	detectorParams

FeatureInfo	leftFeatures

FeatureInfo	rightFeatures

FeatureInfo	leftPutativeMatches

FeatureInfo	rightPutativeMatches

FeatureInfo	leftMatches

FeatureInfo	rightMatches

StereoFeatureArray	stereoFeatures

std::vector< std::pair< long, long > >	correspondences

base::Affine3d	correspondenceTransform

cv::Ptr< cv::FeatureDetector >	detector

cv::Ptr< cv::DescriptorExtractor >	descriptorExtractor

cv::Ptr< cv::DescriptorMatcher >	descriptorMatcher

cv::Mat	homography

cv::Mat	debugImage

int	debugRightOffset

const base::samples::DistanceImage *	dist_left

const base::samples::DistanceImage *	dist_right

bool	use_gpu_detector

cv::gpu::GpuMat	descriptors_gpu_left

cv::gpu::GpuMat	descriptors_gpu_right

Constructor & Destructor Documentation

StereoFeatures::StereoFeatures ( )

Member Function Documentation

void StereoFeatures::calculateDepthInformationBetweenCorrespondences ( StereoFeatureArray * stereo_features = NULL )

void StereoFeatures::calculateInterFrameCorrespondences	(	const StereoFeatureArray &	frame1,
		const StereoFeatureArray &	frame2,
		int	filterMethod
	)

calculate the relation between two stereo pairs

void StereoFeatures::calculateInterFrameCorrespondences	(	const cv::Mat &	feat1,
		const std::vector< cv::KeyPoint > &	keyp1,
		const std::vector< Eigen::Vector3d > &	points1,
		const cv::Mat &	feat2,
		const std::vector< cv::KeyPoint > &	keyp2,
		const std::vector< Eigen::Vector3d > &	points2,
		int	filterMethod
	)

void StereoFeatures::crossCheckMatching	(	const cv::Mat &	descriptors1,
		const cv::Mat &	descriptors2,
		std::vector< cv::DMatch > &	filteredMatches12,
		int	knn = `1`,
		float	distanceFactor = `2.0`
	)

perform cross checking to make sure that the nearest neighbour relationship goes both ways. if a knn of greater than 1 is given, a distanceFactor of greater 1.0 will make the matches more robust, by checking against the next nn.

void StereoFeatures::crossCheckMatching	(	std::vector< std::vector< cv::DMatch > >	matches12,
		std::vector< std::vector< cv::DMatch > >	matches21,
		std::vector< cv::DMatch > &	filteredMatches12,
		int	knn = `1`,
		float	distanceFactor = `2.0`
	)

protected

void StereoFeatures::findFeatures	(	const cv::Mat &	left_image,
		const cv::Mat &	right_image,
		int	use_threading = `1`,
		int	crop_left = `0`,
		int	crop_right = `0`
	)

void StereoFeatures::findFeatures2	(	const cv::Mat &	image,
		FeatureInfo &	info,
		bool	left_frame = `true`,
		int	crop_left = `0`,
		int	crop_right = `0`
	)

protected

void StereoFeatures::findFeatures_threading	(	const cv::Mat &	image,
		FeatureInfo &	info,
		bool	left_frame = `true`,
		int	crop_left = `0`,
		int	crop_right = `0`
	)

protected

const cv::Mat& stereo::StereoFeatures::getDebugImage ( )

inline

get the debug image for a stereo pair, if debugImage has been activated in the configuration.

Todo:: generate the image in this function instead through the pipeline. to allow generation based on result types.

FeatureInfo& stereo::StereoFeatures::getFeatureInfoLeft ( )

inline

Get the result of the last feature extraction, left

FeatureInfo& stereo::StereoFeatures::getFeatureInfoRight ( )

inline

Get the result of the last feature extraction, left

cv::Mat stereo::StereoFeatures::getHomography ( )

inline

std::vector<std::pair<long,long> > stereo::StereoFeatures::getInterFrameCorrespondences ( )

inline

Get the correspondences of the last interframe calculation

Returns: - a vector of an std::pair, where first is an index to frame1 and second an index to frame2 as given by the calculateDepthInformationBetweenCorrespondences()

base::Affine3d stereo::StereoFeatures::getInterFrameCorrespondenceTransform ( )

inline

Get the transform calculated at the last interframe correspondence calculation. Only valid if the filter type was set to ISOMETRY and the number of correspondences > 3.

cv::Mat StereoFeatures::getInterFrameDebugImage	(	const cv::Mat &	debug1,
		const StereoFeatureArray &	frame1,
		const cv::Mat &	debug2,
		const StereoFeatureArray &	frame2,
		std::vector< std::pair< long, long > > *	correspondence = `NULL`
	)

get the debug image for interframe correspondences.

bool StereoFeatures::getPutativeStereoCorrespondences ( )

StereoFeatureArray& stereo::StereoFeatures::getStereoFeatures ( )

inline

Get the result of the last stereo image processing step.

void StereoFeatures::initDetector ( size_t lastNumFeatures )

protected

void StereoFeatures::processFramePair	(	const cv::Mat &	left_image,
		const cv::Mat &	right_image,
		StereoFeatureArray *	stereo_features = `NULL`
	)

Perform the processing on a stereo frame pair. This will perform feature detection, description, matching and filtering based on the configuration given in the configuration class. If the optional last parameter is given, it will not work in class internal storage, but in the storage provided.

bool StereoFeatures::refineFeatureCorrespondences ( )

void StereoFeatures::setCalibration ( const frame_helper::StereoCalibration & calib )

Set the calibration parameters for the stereo camera setup.

void StereoFeatures::setConfiguration ( const FeatureConfiguration & config )

Set the configuration for the stereo processing chain. This will also reset any previous configuration including detector type.

void StereoFeatures::setDetectorConfiguration ( const DetectorConfiguration & detector_config )

Set the configuration for the feature detector

void StereoFeatures::setDistanceImages	(	const base::samples::DistanceImage *	left,
		const base::samples::DistanceImage *	right
	)

optionally set the distance images before each call to process frame pair, in order to perform a perspective undistort of the features before running the descriptor.

Parameters

left	- left distance image
right	- right distance image

Member Data Documentation

frame_helper::StereoCalibrationCv stereo::StereoFeatures::calib

protected

FeatureConfiguration stereo::StereoFeatures::config

protected

std::vector<std::pair<long,long> > stereo::StereoFeatures::correspondences

protected

base::Affine3d stereo::StereoFeatures::correspondenceTransform

protected

cv::Mat stereo::StereoFeatures::debugImage

protected

int stereo::StereoFeatures::debugRightOffset

protected

cv::Ptr<cv::DescriptorExtractor> stereo::StereoFeatures::descriptorExtractor

protected

cv::Ptr<cv::DescriptorMatcher> stereo::StereoFeatures::descriptorMatcher

protected

cv::gpu::GpuMat stereo::StereoFeatures::descriptors_gpu_left

protected

cv::gpu::GpuMat stereo::StereoFeatures::descriptors_gpu_right

protected

cv::Ptr<cv::FeatureDetector> stereo::StereoFeatures::detector

protected

DetectorConfiguration stereo::StereoFeatures::detectorParams

protected

const base::samples::DistanceImage* stereo::StereoFeatures::dist_left

protected

const base::samples::DistanceImage * stereo::StereoFeatures::dist_right

protected

cv::Mat stereo::StereoFeatures::homography

protected

FeatureInfo stereo::StereoFeatures::leftFeatures

protected

FeatureInfo stereo::StereoFeatures::leftMatches

protected

FeatureInfo stereo::StereoFeatures::leftPutativeMatches

protected

FeatureInfo stereo::StereoFeatures::rightFeatures

protected

FeatureInfo stereo::StereoFeatures::rightMatches

protected

FeatureInfo stereo::StereoFeatures::rightPutativeMatches

protected

StereoFeatureArray stereo::StereoFeatures::stereoFeatures

protected

bool stereo::StereoFeatures::use_gpu_detector

protected

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

/build/rock-master-18.09-perception-stereo-0.20161215/src/sparse_stereo.hpp
/build/rock-master-18.09-perception-stereo-0.20161215/src/sparse_stereo.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation