boofcv.alg.feature.associate

Class AssociateStereo2D<Desc extends TupleDesc>

java.lang.Object

boofcv.alg.feature.associate.StereoConsistencyCheck

boofcv.alg.feature.associate.AssociateStereo2D<Desc>

All Implemented Interfaces:

Associate, AssociateDescription2D<Desc>

public class AssociateStereo2D<Desc extends TupleDesc>
extends StereoConsistencyCheck
implements AssociateDescription2D<Desc>

Association for a stereo pair where the source is the left camera and the destination is the right camera. Pixel coordinates are rectified and associations are only considered if the two observations are within tolerance of each other along the y-axis and that the left observation's x-coordinate is greater than the right.

Constructor Summary

Constructors

Constructor and Description
AssociateStereo2D(ScoreAssociation<Desc> scorer, double locationTolerance, java.lang.Class<Desc> descType)

Method Summary

Modifier and Type	Method and Description
void	associate() Finds the best match for each item in the source list with an item in the destination list.
FastQueue<AssociatedIndex>	getMatches() List of associated features.
MatchScoreType	getScoreType() Specifies the type of score which is returned.
GrowQueue_I32	getUnassociatedDestination() Indexes of features in the destination set which are not associated.
GrowQueue_I32	getUnassociatedSource() Indexes of features in the source set which are not associated.
void	setDestination(FastQueue<Point2D_F64> location, FastQueue<Desc> descriptions) Converts location into rectified coordinates and saved a reference to the description.
void	setSource(FastQueue<Point2D_F64> location, FastQueue<Desc> descriptions) Converts location into rectified coordinates and saved a reference to the description.
void	setThreshold(double score) Associations are only considered if their score is less than or equal to the specified threshold.
boolean	uniqueDestination() If at most one match is returned for each destination feature.
boolean	uniqueSource() If at most one match is returned for each source feature.

Methods inherited from class boofcv.alg.feature.associate.StereoConsistencyCheck

checkPixel, checkRectified, setCalibration

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

AssociateStereo2D

public AssociateStereo2D(ScoreAssociation<Desc> scorer,
                         double locationTolerance,
                         java.lang.Class<Desc> descType)

Method Detail

setSource

public void setSource(FastQueue<Point2D_F64> location,
                      FastQueue<Desc> descriptions)

Converts location into rectified coordinates and saved a reference to the description.

Specified by:

setSource in interface AssociateDescription2D<Desc extends TupleDesc>

Parameters:

location - Feature locations.

descriptions - Feature descriptions.

setDestination

public void setDestination(FastQueue<Point2D_F64> location,
                           FastQueue<Desc> descriptions)

Converts location into rectified coordinates and saved a reference to the description.

Specified by:

setDestination in interface AssociateDescription2D<Desc extends TupleDesc>

Parameters:

location - Feature locations.

descriptions - Feature descriptions.

associate

public void associate()

Description copied from interface: Associate

Finds the best match for each item in the source list with an item in the destination list.

Specified by:

associate in interface Associate

getMatches

public FastQueue<AssociatedIndex> getMatches()

Description copied from interface: Associate

List of associated features. Indexes refer to the index inside the input lists.

Specified by:

getMatches in interface Associate

Returns:

List of associated features.

getUnassociatedSource

public GrowQueue_I32 getUnassociatedSource()

Description copied from interface: Associate

Indexes of features in the source set which are not associated. WARNING: In some implementations the unassociated list is recomputed each time this function is invoked. In other implementations it was found virtually for free while the matches are found.

Specified by:

getUnassociatedSource in interface Associate

Returns:

List of unassociated source features by index.

getUnassociatedDestination

public GrowQueue_I32 getUnassociatedDestination()

Description copied from interface: Associate

Indexes of features in the destination set which are not associated. WARNING: In some implementations the unassociated list is recomputed each time this function is invoked. In other implementations it was found virtually for free while the matches are found.

Specified by:

getUnassociatedDestination in interface Associate

Returns:

List of unassociated destination features by index.

setThreshold

public void setThreshold(double score)

Description copied from interface: Associate

Associations are only considered if their score is less than or equal to the specified threshold. To remove any threshold test set this value to Double.MAX_VALUE

Specified by:

setThreshold in interface Associate

Parameters:

score - The threshold.

getScoreType

public MatchScoreType getScoreType()

Description copied from interface: Associate

Specifies the type of score which is returned.

Specified by:

getScoreType in interface Associate

Returns:

Type of association score.

uniqueSource

public boolean uniqueSource()

Description copied from interface: Associate

If at most one match is returned for each source feature.

Specified by:

uniqueSource in interface Associate

Returns:

true for unique source association

uniqueDestination

public boolean uniqueDestination()

Description copied from interface: Associate

If at most one match is returned for each destination feature.

Specified by:

uniqueDestination in interface Associate

Returns:

true for unique destination association