image_matching.h

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#ifndef IMAGE_UTIL_IMAGE_MATCHING_H_
#define IMAGE_UTIL_IMAGE_MATCHING_H_

#include <vector>

#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>

namespace swri_image_util
{
  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);

  void 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);


  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);
}

#endif  // IMAGE_UTIL_IMAGE_MATCHING_H_