libfovis
feature_match.hpp
1 #ifndef __fovis_feature_match_hpp__
2 #define __fovis_feature_match_hpp__
3 
4 #include <vector>
5 
6 #include <Eigen/Dense>
7 #include <Eigen/Geometry>
8 
9 #include "keypoint.hpp"
10 
11 namespace fovis
12 {
13 
14 class PyramidLevel;
15 
32 };
33 
42 {
43  public:
44  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
45 
46  public:
51  target_keypoint(NULL),
52  ref_keypoint(NULL),
54  in_maximal_clique(false),
55  inlier(false),
57  track_id(-1)
58  {
59  }
60 
65  target_keypoint(target_keypoint),
66  ref_keypoint(ref_keypoint),
68  in_maximal_clique(false),
69  inlier(false),
71  track_id(-1)
72  {
73  refined_target_keypoint.copyFrom(*target_keypoint);
74  }
75 
80 
85 
91 
97  std::vector<int> consistency_vec;
98 
103 
108 
112  bool inlier;
113 
117  int id;
118 
124 
133  int track_id;
134 
139 };
140 
141 } /* */
142 
143 #endif
Definition: feature_match.hpp:31
KeypointData * target_keypoint
Definition: feature_match.hpp:79
bool inlier
Definition: feature_match.hpp:112
bool in_maximal_clique
Definition: feature_match.hpp:107
void copyFrom(const KeypointData &src)
Definition: keypoint.hpp:134
double reprojection_error
Definition: feature_match.hpp:123
Represents a single image feature matched between two camera images taken at different times...
Definition: feature_match.hpp:41
KeypointData refined_target_keypoint
Definition: feature_match.hpp:90
Image feature used for motion estimation.
Definition: keypoint.hpp:49
MatchStatusCode
Definition: feature_match.hpp:19
int track_id
Definition: feature_match.hpp:133
MatchStatusCode status
Definition: feature_match.hpp:138
KeypointData * ref_keypoint
Definition: feature_match.hpp:84
int id
Definition: feature_match.hpp:117
quick and dirty profiling tool.inspired by the matlab tic/toc command
Definition: camera_intrinsics.hpp:6
std::vector< int > consistency_vec
Definition: feature_match.hpp:97
FeatureMatch(KeypointData *target_keypoint, KeypointData *ref_keypoint)
Definition: feature_match.hpp:64
int compatibility_degree
Definition: feature_match.hpp:102
Definition: feature_match.hpp:23
Definition: feature_match.hpp:27
FeatureMatch()
Definition: feature_match.hpp:50