image_matching.cpp File Reference

#include <swri_image_util/image_matching.h>
#include <algorithm>
#include <vector>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <ros/ros.h>

Include dependency graph for image_matching.cpp:

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Namespaces
namespace	swri_image_util
Functions
void	swri_image_util::ConvertMatches (const std::vector< cv::KeyPoint > &kp1, const std::vector< cv::KeyPoint > &kp2, const std::vector< cv::DMatch > &matches, cv::Mat &kp1_out, cv::Mat &kp2_out)
	Converts keypoints and matches into two cv::Mats in which the the matching keypoints from kp1 and kp2 are ordered in the same manner.
void	swri_image_util::GetFundamentalInliers (const cv::Mat points1, const cv::Mat points2, cv::Mat &fundamental_matrix, cv::Mat &inliers1, cv::Mat &inliers2, double max_distance=1.0, double confidence=0.99)
	Computes the fundamental matrix for a set of matching points in two different images. The method also returns the inlier keypoints for both frames.
void	swri_image_util::GetFundamentalInliers (const cv::Mat points1, const cv::Mat points2, cv::Mat &fundamental_matrix, cv::Mat &inliers1, cv::Mat &inliers2, std::vector< uint32_t > &indices, double max_distance=1.0, double confidence=0.99)
	Computes the fundamental matrix for a set of matching points in two different images. The method also returns the inlier keypoints for both frames.