rso::CStereoOdometryEstimator::TLeftRightMatchParams Struct Reference

#include <libstereo-odometry.h>

Public Types
enum	TSMMethod { smDescBF = 0, smDescRbR, smSAD }

Public Member Functions
	TLeftRightMatchParams ()
void	dumpToConsole ()

Public Attributes
TSMMethod	match_method
	The selected method to perform stereo matching. Compatibility: {smSAD} -> {ORB,KLT,FAST[ER],FAST[ER]+ORB} and {smDescBF,smDescRbR} -> {ORB,FAST[ER]+ORB}. More...
uint32_t	sad_max_distance
	The maximum SAD value to consider a pairing as a potential match (Default: ~400) More...
double	sad_max_ratio
	The maximum ratio between the two smallest SAD when searching for pairings (Default: 0.5) More...
double	orb_max_distance
	Maximum allowed Hamming distance between a pair of features to be considered a match. More...
int	orb_min_th
int	orb_max_th
	Limits for the ORB matching threshold (dynamic ORB matching limits) More...
bool	enable_robust_1to1_match
	Only match if a pair of L/R features have the best match score to each other (default: false) More...
bool	rectified_images
	Indicates if the stereo pair has parallel optical axes. More...
double	max_y_diff
	Maximum allowed distance in pixels from the same row in the images for corresponding feats. More...
double	min_z
double	max_z
	Min/Max value for the Z coordinate of 3D feature to be considered (reject too close/far features) More...

Member Enumeration Documentation

enum rso::CStereoOdometryEstimator::TLeftRightMatchParams::TSMMethod

Enumerator
smDescBF
smDescRbR
smSAD

Constructor & Destructor Documentation

rso::CStereoOdometryEstimator::TLeftRightMatchParams::TLeftRightMatchParams

(

)

Member Function Documentation

void rso::CStereoOdometryEstimator::TLeftRightMatchParams::dumpToConsole ( )

inline

Member Data Documentation

bool rso::CStereoOdometryEstimator::TLeftRightMatchParams::enable_robust_1to1_match

Only match if a pair of L/R features have the best match score to each other (default: false)

TSMMethod rso::CStereoOdometryEstimator::TLeftRightMatchParams::match_method

The selected method to perform stereo matching. Compatibility: {smSAD} -> {ORB,KLT,FAST[ER],FAST[ER]+ORB} and {smDescBF,smDescRbR} -> {ORB,FAST[ER]+ORB}.

double rso::CStereoOdometryEstimator::TLeftRightMatchParams::max_y_diff

Maximum allowed distance in pixels from the same row in the images for corresponding feats.

double rso::CStereoOdometryEstimator::TLeftRightMatchParams::max_z

Min/Max value for the Z coordinate of 3D feature to be considered (reject too close/far features)

double rso::CStereoOdometryEstimator::TLeftRightMatchParams::min_z

double rso::CStereoOdometryEstimator::TLeftRightMatchParams::orb_max_distance

Maximum allowed Hamming distance between a pair of features to be considered a match.

int rso::CStereoOdometryEstimator::TLeftRightMatchParams::orb_max_th

Limits for the ORB matching threshold (dynamic ORB matching limits)

int rso::CStereoOdometryEstimator::TLeftRightMatchParams::orb_min_th

bool rso::CStereoOdometryEstimator::TLeftRightMatchParams::rectified_images

Indicates if the stereo pair has parallel optical axes.

uint32_t rso::CStereoOdometryEstimator::TLeftRightMatchParams::sad_max_distance

The maximum SAD value to consider a pairing as a potential match (Default: ~400)

double rso::CStereoOdometryEstimator::TLeftRightMatchParams::sad_max_ratio

The maximum ratio between the two smallest SAD when searching for pairings (Default: 0.5)

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The documentation for this struct was generated from the following file:

• libstereo-odometry.h