#include <feature_matcher.h>

Inheritance diagram for bsfm::FeatureMatcher:

Public Member Functions
	FeatureMatcher ()

virtual	~FeatureMatcher ()

virtual void	AddImageFeatures (const std::vector< Feature > &image_features, const std::vector< Descriptor > &image_descriptors)

virtual void	AddImageFeatures (const std::vector< std::vector< Feature > > &image_features, const std::vector< std::vector< Descriptor > > &image_descriptors)

virtual bool	MatchImages (const FeatureMatcherOptions &options, PairwiseImageMatchList &image_matches)

Protected Member Functions
virtual bool	MatchImagePair (int image_index1, int image_index2, PairwiseImageMatch &image_match)=0

virtual void	SymmetricMatches (const std::vector< LightFeatureMatch > &feature_matches_lhs, std::vector< LightFeatureMatch > &feature_matches_rhs)

Protected Attributes
std::vector< std::vector< Feature > >	image_features_

std::vector< std::vector< Descriptor > >	image_descriptors_

FeatureMatcherOptions	options_

Detailed Description

Definition at line 64 of file feature_matcher.h.

Constructor & Destructor Documentation

bsfm::FeatureMatcher::FeatureMatcher ( )

inline

Definition at line 66 of file feature_matcher.h.

66 { }

virtual bsfm::FeatureMatcher::~FeatureMatcher ( )

inlinevirtual

Definition at line 67 of file feature_matcher.h.

67 { }

Member Function Documentation

void bsfm::FeatureMatcher::AddImageFeatures	(	const std::vector< Feature > &	image_features,
		const std::vector< Descriptor > &	image_descriptors
	)

virtual

Definition at line 43 of file feature_matcher.cpp.

                                                     {
   image_features_.push_back(image_features);
   image_descriptors_.push_back(image_descriptors);
 }

void bsfm::FeatureMatcher::AddImageFeatures	(	const std::vector< std::vector< Feature > > &	image_features,
		const std::vector< std::vector< Descriptor > > &	image_descriptors
	)

virtual

Definition at line 51 of file feature_matcher.cpp.

                                                                 {
   image_features_.insert(image_features_.end(), image_features.begin(),
                          image_features.end());
   image_descriptors_.insert(image_descriptors_.end(), image_descriptors.begin(),
                             image_descriptors.end());
 }

virtual bool bsfm::FeatureMatcher::MatchImagePair	(	int	image_index1,
		int	image_index2,
		PairwiseImageMatch &	image_match
	)

protectedpure virtual

Implemented in bsfm::NaiveMatcher2D2D.

bool bsfm::FeatureMatcher::MatchImages	(	const FeatureMatcherOptions &	options,
		PairwiseImageMatchList &	image_matches
	)

virtual

Definition at line 60 of file feature_matcher.cpp.

                                                                         {
   // Store the matching options locally.
   options_ = options;
 
   // Iterate over all pairs of images and attempt to match them together by
   // comparing their features.
   for (size_t ii = 0; ii < image_features_.size(); ++ii) {
     // Make sure this image has features.
     if (image_features_[ii].size() == 0) {
       continue;
     }
     for (size_t jj = ii + 1; jj < image_features_.size(); ++jj) {
       // Make sure this image has features.
       if (image_features_[jj].size() == 0) {
         continue;
       }
 
       // Create an image match object and attempt to match image ii to image jj.
       PairwiseImageMatch image_match;
       if (!MatchImagePair(ii, jj, image_match)) {
         VLOG(1) << "Could not match image " << ii << " to image " << jj << ".";
         continue;
       }
 
       // If the image match was successful, store it.
       image_matches.push_back(image_match);
     }
   }
 
   // Return whether or not we found matches between any of the images.
   return image_matches.size() > 0;
 }

void bsfm::FeatureMatcher::SymmetricMatches	(	const std::vector< LightFeatureMatch > &	feature_matches_lhs,
		std::vector< LightFeatureMatch > &	feature_matches_rhs
	)

protectedvirtual

Definition at line 94 of file feature_matcher.cpp.

                                                        {
   std::unordered_map<int, int> feature_indices;
   feature_indices.reserve(feature_matches_lhs.size());
 
   // Add all LHS matches to the map.
   for (const auto& feature_match : feature_matches_lhs) {
     feature_indices.insert(std::make_pair(feature_match.feature_index1_,
                                           feature_match.feature_index2_));
   }
 
   // For each match in the RHS set, search for the same match in the LHS set.
   // If the match is not symmetric, remove it from the RHS set.
   auto rhs_iter = feature_matches_rhs.begin();
   while (rhs_iter != feature_matches_rhs.end()) {
     const auto& lhs_matched_iter =
         feature_indices.find(rhs_iter->feature_index2_);
 
     // If a symmetric match is found, keep it in the RHS set.
     if (lhs_matched_iter != feature_indices.end()) {
       if (lhs_matched_iter->second == rhs_iter->feature_index1_) {
         ++rhs_iter;
         continue;
       }
     }
 
     // Remove the non-symmetric match and continue on.
     feature_matches_rhs.erase(rhs_iter);
   }
 }

Member Data Documentation

std::vector<std::vector<Descriptor> > bsfm::FeatureMatcher::image_descriptors_

protected

Definition at line 97 of file feature_matcher.h.

std::vector<std::vector<Feature> > bsfm::FeatureMatcher::image_features_

protected

Definition at line 96 of file feature_matcher.h.

FeatureMatcherOptions bsfm::FeatureMatcher::options_

protected

Definition at line 100 of file feature_matcher.h.

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

/Users/eanelson/Git/berkeley_sfm/src/cpp/matching/feature_matcher.h
/Users/eanelson/Git/berkeley_sfm/src/cpp/matching/feature_matcher.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation