A class for estimating image warping based on perspective distortion. Primarily intended for use with downward-facing camera methods. More...

#include <image_warp_util.h>

Public Member Functions
cv::Mat	EstimateNominalAngle (double &nominal_pitch, double &nominal_roll, bool show_image_diff=false)
	Estimates the nominal pitch and roll of the camera (from perfectly vertical) from two overlapping images. More...

	PitchAndRollEstimator ()
	Constructor. More...

Static Public Member Functions
static cv::Mat	EstimateNominalAngle (const cv::Mat &points1, const cv::Mat &points2, const cv::Size &image_size, double &nominal_pitch, double &nominal_roll)
	Estimates the nominal pitch and roll of the camera (from perfectly vertical) from two overlapping images. More...

Private Member Functions
bool	ComputeGeometricMatches ()
	Matches keypoints using loose geometric constraints and stores them in kp1_matched_ and kp2_matched_. More...

void	WarpAffinePoints (const cv::Mat &T, const cv::Mat &pts_in, cv::Mat &pts_out)
	Warps a matrix of points (in the same form as the inliers) More...

void	WarpPoints (double pitch, double roll, const cv::Mat &pts_in, cv::Mat &pts_out)
	Warps a matrix of points (in the same form as the inliers) More...

Static Private Member Functions
static bool	EstimateTransforms (cv::Mat &pts1, cv::Mat &pts2, cv::Mat &T_affine, cv::Mat &T_rigid, double &rms_error)
	Estimates the "nearest" rigid, and corresponding full affine transformation for a set of matching points. More...

Private Attributes
cv::Mat	descriptors1_

cv::Mat	descriptors2_

cv::Mat	im1_

cv::Mat	im2_

cv::Mat	K_

std::vector< cv::KeyPoint >	kp1_

cv::Mat	kp1_matched_

std::vector< cv::KeyPoint >	kp2_

cv::Mat	kp2_matched_

cv::Mat	T_

cv::detail::PlaneWarper	warper_

Detailed Description

A class for estimating image warping based on perspective distortion. Primarily intended for use with downward-facing camera methods.

Definition at line 105 of file image_warp_util.h.

Constructor & Destructor Documentation

swri_image_util::PitchAndRollEstimator::PitchAndRollEstimator ( )

inline

Constructor.

Definition at line 111 of file image_warp_util.h.

Member Function Documentation

bool swri_image_util::PitchAndRollEstimator::ComputeGeometricMatches ( )

private

Matches keypoints using loose geometric constraints and stores them in kp1_matched_ and kp2_matched_.

Return values

Returns false if unable to find valid matches

Definition at line 299 of file image_warp_util.cpp.

cv::Mat swri_image_util::PitchAndRollEstimator::EstimateNominalAngle	(	double &	nominal_pitch,
		double &	nominal_roll,
		bool	show_image_diff = `false`
	)

Estimates the nominal pitch and roll of the camera (from perfectly vertical) from two overlapping images.

Returns: Returns the rotation matrix for the computed pitch and roll

Definition at line 145 of file image_warp_util.cpp.

cv::Mat swri_image_util::PitchAndRollEstimator::EstimateNominalAngle	(	const cv::Mat &	points1,
		const cv::Mat &	points2,
		const cv::Size &	image_size,
		double &	nominal_pitch,
		double &	nominal_roll
	)

static

Estimates the nominal pitch and roll of the camera (from perfectly vertical) from two overlapping images.

Returns: Returns the rotation matrix for the computed pitch and roll

Definition at line 206 of file image_warp_util.cpp.

bool swri_image_util::PitchAndRollEstimator::EstimateTransforms	(	cv::Mat &	pts1,
		cv::Mat &	pts2,
		cv::Mat &	T_affine,
		cv::Mat &	T_rigid,
		double &	rms_error
	)

staticprivate

Estimates the "nearest" rigid, and corresponding full affine transformation for a set of matching points.

Parameters

[in]	pts1
[in]	pts2
[out]	T_affine
[out]	T_rigid
[out]	rms_error	The RMS (distance) error for inlier points using the rigid transform

Return values

Returns false if unable to find enough valid matches

Definition at line 360 of file image_warp_util.cpp.

void swri_image_util::PitchAndRollEstimator::WarpAffinePoints	(	const cv::Mat &	T,
		const cv::Mat &	pts_in,
		cv::Mat &	pts_out
	)

private

Warps a matrix of points (in the same form as the inliers)

Parameters

[in]	T	The 2D rigid transform to use for warping
[in]	pts_in	The points to warp
[out]	pts_out	The warped points

Definition at line 411 of file image_warp_util.cpp.

void swri_image_util::PitchAndRollEstimator::WarpPoints	(	double	pitch,
		double	roll,
		const cv::Mat &	pts_in,
		cv::Mat &	pts_out
	)

private

Warps a matrix of points (in the same form as the inliers)

Parameters

[in]	pitch	The pitch used to warp the point
[in]	roll	The roll used to warp the point
[in]	pts_in	The points to warp
[out]	pts_out	The warped points

Definition at line 391 of file image_warp_util.cpp.

Member Data Documentation

cv::Mat swri_image_util::PitchAndRollEstimator::descriptors1_

private

Definition at line 146 of file image_warp_util.h.

cv::Mat swri_image_util::PitchAndRollEstimator::descriptors2_

private

Definition at line 147 of file image_warp_util.h.

cv::Mat swri_image_util::PitchAndRollEstimator::im1_

private

Definition at line 138 of file image_warp_util.h.

cv::Mat swri_image_util::PitchAndRollEstimator::im2_

private

Definition at line 139 of file image_warp_util.h.

cv::Mat swri_image_util::PitchAndRollEstimator::K_

private

Definition at line 141 of file image_warp_util.h.

std::vector<cv::KeyPoint> swri_image_util::PitchAndRollEstimator::kp1_

private

Definition at line 144 of file image_warp_util.h.

cv::Mat swri_image_util::PitchAndRollEstimator::kp1_matched_

private

Definition at line 149 of file image_warp_util.h.

std::vector<cv::KeyPoint> swri_image_util::PitchAndRollEstimator::kp2_

private

Definition at line 145 of file image_warp_util.h.

cv::Mat swri_image_util::PitchAndRollEstimator::kp2_matched_

private

Definition at line 150 of file image_warp_util.h.

cv::Mat swri_image_util::PitchAndRollEstimator::T_

private

Definition at line 142 of file image_warp_util.h.

cv::detail::PlaneWarper swri_image_util::PitchAndRollEstimator::warper_

private

Definition at line 152 of file image_warp_util.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation