PatternMatcherIsometric::Result PatternMatcherIsometric::Match()

in IsometricPatternMatcher/PatternMatcherIsometric.cpp [138:171]

• 23 lines of code
• 2 McCabe index (conditional complexity)

PatternMatcherIsometric::Result PatternMatcherIsometric::Match(
    const Image<uint8_t>& imageU8) const {
  PatternMatcherIsometric::Result res;
  // detect dots
  Eigen::Matrix2Xd detectedDots = DotDetection(imageU8);

  for (int i = 0; i < detectedDots.cols(); ++i) {
    res.debug.feature_pts.push_back(detectedDots.col(i));
  }

  // get intensity of the extracted dots
  Eigen::VectorXd intensity = GetIntensity(detectedDots, imageU8);

  // detect pattern from the extracted dot
  Eigen::Vector2d centerXY;
  centerXY << imageU8.w / 2, imageU8.h / 2;
  double spacing = 1.0;
  int numNeighboursForPoseEst = 3;
  int numberSegX = 3;
  int numberSegY = 3;  // devide the dots into numberSegX*numberSegY patches
  HexGridFitting grid(detectedDots, centerXY, opts_.focalLength, intensity,
                      opts_.ifDistort, false, false, spacing,
                      numNeighboursForPoseEst, numberSegX, numberSegY);

  // store detected pattern into a storagemap
  Eigen::Vector2i offset;
  int rotationIndx;
  StoreIntoMap(grid, detectedDots, res, rotationIndx, offset);

  // Generate result
  generateResult(grid, detectedDots, rotationIndx, offset, res);

  return res;
}