image_matching.h
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29 
30 #ifndef IMAGE_UTIL_IMAGE_MATCHING_H_
31 #define IMAGE_UTIL_IMAGE_MATCHING_H_
32 
33 #include <vector>
34 
35 #include <opencv2/core/core.hpp>
36 #include <opencv2/features2d/features2d.hpp>
37 
38 namespace swri_image_util
39 {
55  void GetFundamentalInliers(const cv::Mat points1,
56  const cv::Mat points2,
57  cv::Mat& fundamental_matrix,
58  cv::Mat& inliers1,
59  cv::Mat& inliers2,
60  double max_distance = 1.0,
61  double confidence = 0.99);
62 
79  void GetFundamentalInliers(const cv::Mat points1,
80  const cv::Mat points2,
81  cv::Mat& fundamental_matrix,
82  cv::Mat& inliers1,
83  cv::Mat& inliers2,
84  std::vector<uint32_t>& indices,
85  double max_distance = 1.0,
86  double confidence = 0.99);
87 
88 
100  void ConvertMatches(const std::vector<cv::KeyPoint>& kp1,
101  const std::vector<cv::KeyPoint>& kp2,
102  const std::vector<cv::DMatch>& matches,
103  cv::Mat& kp1_out,
104  cv::Mat& kp2_out);
105 }
106 
107 #endif // IMAGE_UTIL_IMAGE_MATCHING_H_
108 
void 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 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...


swri_image_util
Author(s): Kris Kozak
autogenerated on Tue Apr 6 2021 02:50:39