A class used for matching descriptors that can be described as vectors in a finite-dimensional space. More...

#include <PointsMatcher.h>

Inheritance diagram for OpencvSfM::PointsMatcher:

Public Member Functions
	PointsMatcher (const cv::Ptr< cv::DescriptorMatcher > &matcher)
	PointsMatcher (const PointsMatcher &copy)
virtual	~PointsMatcher ()
virtual void	add (cv::Ptr< PointsToTrack > pointCollection)
virtual void	clear ()
virtual void	train ()
virtual bool	isMaskSupported ()
virtual bool	empty () const
virtual cv::Ptr< PointsMatcher >	clone (bool emptyTrainData=true)
virtual void	match (cv::Ptr< PointsToTrack > queryPoints, std::vector< cv::DMatch > &matches, const std::vector< cv::Mat > &masks=std::vector< cv::Mat >())
virtual void	knnMatch (cv::Ptr< PointsToTrack > queryPoints, std::vector< std::vector< cv::DMatch > > &matches, int k, const std::vector< cv::Mat > &masks=std::vector< cv::Mat >(), bool compactResult=true)
virtual void	radiusMatch (cv::Ptr< PointsToTrack > queryPoints, std::vector< std::vector< cv::DMatch > > &matches, float maxDistance, const std::vector< cv::Mat > &masks=std::vector< cv::Mat >(), bool compactResult=true)
virtual void	crossMatch (cv::Ptr< PointsMatcher > otherMatcher, std::vector< cv::DMatch > &matches, const std::vector< cv::Mat > &masks=std::vector< cv::Mat >())
const cv::KeyPoint &	getKeypoint (int numKey) const
Static Public Member Functions
static cv::Ptr< PointsMatcher >	create (std::string match_algo)
static void	drawMatches (const cv::Mat &img1, const std::vector< cv::KeyPoint > &keypoints1, const std::vector< cv::KeyPoint > &keypoints2, const std::vector< cv::DMatch > &matches1to2, cv::Mat &outImg, const cv::Scalar &matchColor=cv::Scalar::all(-1), const cv::Scalar &singlePointColor=cv::Scalar::all(-1), const std::vector< char > &matchesMask=std::vector< char >(), int flags=cv::DrawMatchesFlags::DEFAULT)
static void	read (const cv::FileNode &node, PointsMatcher &points)
static void	write (cv::FileStorage &fs, const PointsMatcher &points)
Protected Member Functions
	DECLARE_MUTEX (thread_concurr)
	PointsMatcher ()
Protected Attributes
cv::Ptr< cv::DescriptorMatcher >	matcher_
	Algorithm used to find matches...
std::vector< cv::Ptr < PointsToTrack > >	pointCollection_
	Vector of points used to compute matches...

Detailed Description

A class used for matching descriptors that can be described as vectors in a finite-dimensional space.

Any Matcher that inherit from DescriptorMatcher can be used ( For example, you can use FlannBasedMatcher or BruteForceMatcher ).

Definition at line 17 of file PointsMatcher.h.

Constructor & Destructor Documentation

OpencvSfM::PointsMatcher::PointsMatcher ( const cv::Ptr< cv::DescriptorMatcher > & matcher )

Constructor. Need a matcher algorithm...

Parameters:

matcher Ptr on a matcher. See for available matcher: http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_descriptor_matchers.html#descriptormatcher

Definition at line 20 of file PointsMatcher.cpp.

OpencvSfM::PointsMatcher::PointsMatcher ( const PointsMatcher & copy )

Copy constructor.

Definition at line 33 of file PointsMatcher.cpp.

OpencvSfM::PointsMatcher::~PointsMatcher ( void ) [virtual]

Destructor...

Definition at line 40 of file PointsMatcher.cpp.

OpencvSfM::PointsMatcher::PointsMatcher ( ) [protected]

This constructor is only available for inherited classes!

Definition at line 27 of file PointsMatcher.cpp.

Referenced by clone().

Member Function Documentation

void OpencvSfM::PointsMatcher::add ( cv::Ptr< PointsToTrack > pointCollection ) [virtual]

Use this function to add data used to find matches

Parameters:

pointCollection points computed using various methods. Please be carful to get compatible points ( that is with descriptors if matcher need some )

Definition at line 51 of file PointsMatcher.cpp.

void OpencvSfM::PointsMatcher::clear ( ) [virtual]

If needed, you can clear the training data using this method.

Reimplemented in OpencvSfM::PointsMatcherOpticalFlow.

Definition at line 58 of file PointsMatcher.cpp.

Ptr< PointsMatcher > OpencvSfM::PointsMatcher::clone ( bool emptyTrainData = true ) [virtual]

Clone the matcher.

Parameters:

emptyTrainData IIf emptyTrainData is false the method create deep copy of the object, i.e. copies both parameters and train data. If emptyTrainData is true the method create object copy with current parameters but with empty train data..

Returns:: An other PointsMatcher instance

Reimplemented in OpencvSfM::PointsMatcherOpticalFlow, and OpencvSfM::MatcherSparseFlow.

Definition at line 170 of file PointsMatcher.cpp.

Referenced by OpencvSfM::MatchingThread::operator()().

static cv::Ptr<PointsMatcher> OpencvSfM::PointsMatcher::create ( std::string match_algo ) [inline, static]

Use this function to create a point matcher using the name of a matching algorithm (see http://opencv.willowgarage.com/documentation/cpp/features2d_common_interfaces_of_descriptor_matchers.html)

Parameters:

match_algo name of the wanted algorithm

Returns:: new PointsMatcher

Definition at line 41 of file PointsMatcher.h.

void OpencvSfM::PointsMatcher::crossMatch	(	cv::Ptr< PointsMatcher >	otherMatcher,
		std::vector< cv::DMatch > &	matches,
		const std::vector< cv::Mat > &	masks = `std::vector<cv::Mat>( )`
	)		`[virtual]`

Using an other matchers given in parameters, recompute a matching in inverse order and keep only matches which are two-ways.

Parameters:

otherMatcher	Query set of points and descriptors.
matches	First guess of matches... Will be updated to contain only two-way matches ( can be empty ).
masks	specifying permissible matches between input query and train matrices of descriptors.

Definition at line 181 of file PointsMatcher.cpp.

OpencvSfM::PointsMatcher::DECLARE_MUTEX ( thread_concurr ) [protected]

In order to be able to match points in threads, we have to take care of interprocess access.

void OpencvSfM::PointsMatcher::drawMatches	(	const cv::Mat &	img1,
		const std::vector< cv::KeyPoint > &	keypoints1,
		const std::vector< cv::KeyPoint > &	keypoints2,
		const std::vector< cv::DMatch > &	matches1to2,
		cv::Mat &	outImg,
		const cv::Scalar &	matchColor = `cv::Scalar::all( -1 )`,
		const cv::Scalar &	singlePointColor = `cv::Scalar::all( -1 )`,
		const std::vector< char > &	matchesMask = `std::vector<char>( )`,
		int	flags = `cv::DrawMatchesFlags::DEFAULT`
	)		`[static]`

This function draw keypoints and matches. Contrary to cv::drawMatches, only the first image is used to draw matches...

Parameters:

img1	First source image.
keypoints1	Keypoints from first source image.
keypoints2	Keypoints from second source image.
matches1to2	Matches from first image to second one, i.e. keypoints1[ i ] has corresponding point keypoints2[ matches[ i ]] .
outImg	Output image. Its content depends on flags value what is drawn in output image. See below possible flags bit values.
matchColor	� Color of matches ( lines and connected keypoints ). If matchColor==Scalar::all( -1 ) color will be generated randomly.
singlePointColor	� Color of single keypoints ( circles ), i.e. keypoints not having the matches. If singlePointColor==Scalar::all( -1 ) color will be generated randomly.
matchesMask	� Mask determining which matches will be drawn. If mask is empty all matches will be drawn.
flags	� Each bit of flags sets some feature of drawing. Possible flags bit values is defined by DrawMatchesFlags , see http://opencv.willowgarage.com/documentation/cpp/features2d_drawing_function_of_keypoints_and_matches.html#cv-drawmatches.

Definition at line 227 of file PointsMatcher.cpp.

Referenced by OpencvSfM::SequenceAnalyzer::showTracks(), and OpencvSfM::SequenceAnalyzer::showTracksBetween().

bool OpencvSfM::PointsMatcher::empty ( ) const [virtual]

Use to know if matching are available

Returns:: true if matching has been performed

Reimplemented in OpencvSfM::PointsMatcherOpticalFlow.

Definition at line 165 of file PointsMatcher.cpp.

const cv::KeyPoint & OpencvSfM::PointsMatcher::getKeypoint ( int numKey ) const

Get a keypoint

Parameters:

numKey index of the wanted point

Returns:: keypoint using the cv::Keypoint format

Definition at line 45 of file PointsMatcher.cpp.

bool OpencvSfM::PointsMatcher::isMaskSupported ( ) [virtual]

Use this method to know if mask are supported with current matcher

Returns:: true if matcher can use mask

Reimplemented in OpencvSfM::PointsMatcherOpticalFlow.

Definition at line 97 of file PointsMatcher.cpp.

virtual void OpencvSfM::PointsMatcher::knnMatch	(	cv::Ptr< PointsToTrack >	queryPoints,
		std::vector< std::vector< cv::DMatch > > &	matches,
		int	k,
		const std::vector< cv::Mat > &	masks = `std::vector< cv::Mat >()`,
		bool	compactResult = `true`
	)		`[virtual]`

Find the k best matches for each descriptor from a query set with train descriptors.

Parameters:

queryPoints	Query set of points and descriptors.
matches	Mathes. Each matches[ i ] is k or less matches for the same query descriptor.
k	Count of best matches will be found per each query descriptor ( or less if it�s not possible ).
masks	specifying permissible matches between input query and train matrices of descriptors.
compactResult	� It�s used when mask ( or masks ) is not empty. If compactResult is false matches vector will have the same size as queryDescriptors rows. If compactResult is true matches vector will not contain matches for fully masked out query descriptors.

Reimplemented in OpencvSfM::PointsMatcherOpticalFlow, and OpencvSfM::MatcherSparseFlow.

void OpencvSfM::PointsMatcher::match	(	cv::Ptr< PointsToTrack >	queryPoints,
		std::vector< cv::DMatch > &	matches,
		const std::vector< cv::Mat > &	masks = `std::vector<cv::Mat>( )`
	)		`[virtual]`

Find the k best matches for each descriptor from a query set with train descriptors.

Parameters:

queryPoints	Query set of points and descriptors.
matches	Mathes. If some query descriptor ( keypoint ) masked out in mask no match will be added for this descriptor. So matches size may be less than query keypoints count.
masks	The set of masks. Each masks[ i ] specifies permissible matches between input query keypoints and stored train keypointss from i-th image.

Reimplemented in OpencvSfM::PointsMatcherOpticalFlow, and OpencvSfM::MatcherSparseFlow.

Definition at line 102 of file PointsMatcher.cpp.

Referenced by crossMatch().

virtual void OpencvSfM::PointsMatcher::radiusMatch	(	cv::Ptr< PointsToTrack >	queryPoints,
		std::vector< std::vector< cv::DMatch > > &	matches,
		float	maxDistance,
		const std::vector< cv::Mat > &	masks = `std::vector< cv::Mat >()`,
		bool	compactResult = `true`
	)		`[virtual]`

Find the best matches for each query descriptor which have distance less than given threshold.

Parameters:

queryPoints	Query set of points and descriptors.
matches	Each matches[ i ] is k or less matches for the same query descriptor.
maxDistance	The threshold to found match distances.
masks	specifying permissible matches between input query and train matrices of descriptors.
compactResult	� It�s used when mask ( or masks ) is not empty. If compactResult is false matches vector will have the same size as queryDescriptors rows. If compactResult is true matches vector will not contain matches for fully masked out query descriptors.

Reimplemented in OpencvSfM::PointsMatcherOpticalFlow, and OpencvSfM::MatcherSparseFlow.

void OpencvSfM::PointsMatcher::read	(	const cv::FileNode &	node,
		PointsMatcher &	points
	)		`[static]`

Load the matches from a YAML file.

Parameters:

node	Previously opened YAML file node
points	output

Definition at line 284 of file PointsMatcher.cpp.

void OpencvSfM::PointsMatcher::train ( ) [virtual]

When using matcher which need training, use this method to start the training.

Reimplemented in OpencvSfM::PointsMatcherOpticalFlow.

Definition at line 69 of file PointsMatcher.cpp.

Referenced by crossMatch(), OpencvSfM::PointsMatcherOpticalFlow::knnMatch(), match(), and OpencvSfM::PointsMatcherOpticalFlow::radiusMatch().

void OpencvSfM::PointsMatcher::write	(	cv::FileStorage &	fs,
		const PointsMatcher &	points
	)		`[static]`

Save the matches into a YAML file.

Parameters:

fs	Previously opened YAML file node
points	sequence to save...

Definition at line 309 of file PointsMatcher.cpp.

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

D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/PointsMatcher.h
D:/Travail/These/Determination caracteristiques camera/GSoC/SfM/src/PointsMatcher.cpp

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation