boofcv.alg.feature.associate

Class BaseAssociateLocation2DFilter<D>

java.lang.Object

boofcv.alg.feature.associate.BaseAssociateLocation2DFilter<D>

All Implemented Interfaces:

Associate, AssociateDescription2D<D>

Direct Known Subclasses:

AssociateMaxDistanceNaive

public abstract class BaseAssociateLocation2DFilter<D>
extends Object
implements AssociateDescription2D<D>

Base class for algorithms which consider all possible associations but perform a quick distance calculation to remove unlikely matches before computing the more expensive fit score between two descriptions. The maxDistance is the upper limit and features with a distance greater than maxDistance are rejected. Maximum error is exclusive and a match must have an error which is less than the max error. By default the max-distance and max error are set to Double.MAX_VALUE.

Author:

Peter Abeles

Field Summary

Fields

Modifier and Type	Field and Description
protected double	maxDistance
protected double	maxError

Constructor Summary

Constructors

Modifier	Constructor and Description
protected	BaseAssociateLocation2DFilter(ScoreAssociation<D> scoreAssociation, boolean backwardsValidation, double maxError) Specifies score mechanism

Method Summary

Methods

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.
protected abstract double	computeDistanceToSource(georegression.struct.point.Point2D_F64 p)
org.ddogleg.struct.FastQueue<AssociatedIndex>	getMatches() List of associated features.
double	getMaxDistance()
MatchScoreType	getScoreType() Specifies the type of score which is returned.
org.ddogleg.struct.GrowQueue_I32	getUnassociatedDestination() Indexes of features in the destination set which are not associated.
org.ddogleg.struct.GrowQueue_I32	getUnassociatedSource() Indexes of features in the source set which are not associated.
protected abstract void	setActiveSource(georegression.struct.point.Point2D_F64 p)
void	setDestination(org.ddogleg.struct.FastQueue<georegression.struct.point.Point2D_F64> location, org.ddogleg.struct.FastQueue<D> descriptions) Provide the location and descriptions for destination features.
void	setMaxDistance(double maxDistance)
void	setSource(org.ddogleg.struct.FastQueue<georegression.struct.point.Point2D_F64> location, org.ddogleg.struct.FastQueue<D> descriptions) Provide the location and descriptions for source features.
void	setThreshold(double score) Associations are only considered if their score is less than 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 java.lang.Object

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

Field Detail

maxDistance

protected double maxDistance

maxError

protected double maxError

Constructor Detail

BaseAssociateLocation2DFilter

protected BaseAssociateLocation2DFilter(ScoreAssociation<D> scoreAssociation,
                             boolean backwardsValidation,
                             double maxError)

Specifies score mechanism

Parameters:

scoreAssociation - How features are scored.

backwardsValidation - Require that matches are mutual in forward/backwards directions

maxError - Maximum allowed association error

Method Detail

getMaxDistance

public double getMaxDistance()

setMaxDistance

public void setMaxDistance(double maxDistance)

setSource

public void setSource(org.ddogleg.struct.FastQueue<georegression.struct.point.Point2D_F64> location,
             org.ddogleg.struct.FastQueue<D> descriptions)

Description copied from interface: AssociateDescription2D

Provide the location and descriptions for source features.

Specified by:

setSource in interface AssociateDescription2D<D>

Parameters:

location - Feature locations.

descriptions - Feature descriptions.

setDestination

public void setDestination(org.ddogleg.struct.FastQueue<georegression.struct.point.Point2D_F64> location,
                  org.ddogleg.struct.FastQueue<D> descriptions)

Description copied from interface: AssociateDescription2D

Provide the location and descriptions for destination features.

Specified by:

setDestination in interface AssociateDescription2D<D>

Parameters:

location - Feature locations.

descriptions - Feature descriptions.

setActiveSource

protected abstract void setActiveSource(georegression.struct.point.Point2D_F64 p)

computeDistanceToSource

protected abstract double computeDistanceToSource(georegression.struct.point.Point2D_F64 p)

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 org.ddogleg.struct.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 org.ddogleg.struct.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 org.ddogleg.struct.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 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