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>
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| 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...
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| bool | ComputeGeometricMatches () |
| | Matches keypoints using loose geometric constraints and stores them in kp1_matched_ and kp2_matched_. More...
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| 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...
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| 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...
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| 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...
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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.
◆ PitchAndRollEstimator()
| swri_image_util::PitchAndRollEstimator::PitchAndRollEstimator |
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◆ ComputeGeometricMatches()
| bool swri_image_util::PitchAndRollEstimator::ComputeGeometricMatches |
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Matches keypoints using loose geometric constraints and stores them in kp1_matched_ and kp2_matched_.
- Return values
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| Returns | false if unable to find valid matches |
Definition at line 299 of file image_warp_util.cpp.
◆ EstimateNominalAngle() [1/2]
| cv::Mat swri_image_util::PitchAndRollEstimator::EstimateNominalAngle |
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double & |
nominal_pitch, |
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double & |
nominal_roll, |
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bool |
show_image_diff = false |
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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.
◆ EstimateNominalAngle() [2/2]
| cv::Mat swri_image_util::PitchAndRollEstimator::EstimateNominalAngle |
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const cv::Mat & |
points1, |
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const cv::Mat & |
points2, |
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const cv::Size & |
image_size, |
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double & |
nominal_pitch, |
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double & |
nominal_roll |
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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.
◆ EstimateTransforms()
| bool swri_image_util::PitchAndRollEstimator::EstimateTransforms |
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cv::Mat & |
pts1, |
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cv::Mat & |
pts2, |
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cv::Mat & |
T_affine, |
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cv::Mat & |
T_rigid, |
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double & |
rms_error |
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staticprivate |
Estimates the "nearest" rigid, and corresponding full affine transformation for a set of matching points.
- Parameters
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| [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
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| Returns | false if unable to find enough valid matches |
Definition at line 360 of file image_warp_util.cpp.
◆ WarpAffinePoints()
| void swri_image_util::PitchAndRollEstimator::WarpAffinePoints |
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const cv::Mat & |
T, |
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const cv::Mat & |
pts_in, |
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cv::Mat & |
pts_out |
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Warps a matrix of points (in the same form as the inliers)
- Parameters
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| [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.
◆ WarpPoints()
| void swri_image_util::PitchAndRollEstimator::WarpPoints |
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double |
pitch, |
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double |
roll, |
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const cv::Mat & |
pts_in, |
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cv::Mat & |
pts_out |
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Warps a matrix of points (in the same form as the inliers)
- Parameters
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| [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.
◆ descriptors1_
| cv::Mat swri_image_util::PitchAndRollEstimator::descriptors1_ |
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◆ descriptors2_
| cv::Mat swri_image_util::PitchAndRollEstimator::descriptors2_ |
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◆ im1_
| cv::Mat swri_image_util::PitchAndRollEstimator::im1_ |
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◆ im2_
| cv::Mat swri_image_util::PitchAndRollEstimator::im2_ |
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◆ K_
| cv::Mat swri_image_util::PitchAndRollEstimator::K_ |
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◆ kp1_
| std::vector<cv::KeyPoint> swri_image_util::PitchAndRollEstimator::kp1_ |
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◆ kp1_matched_
| cv::Mat swri_image_util::PitchAndRollEstimator::kp1_matched_ |
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◆ kp2_
| std::vector<cv::KeyPoint> swri_image_util::PitchAndRollEstimator::kp2_ |
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◆ kp2_matched_
| cv::Mat swri_image_util::PitchAndRollEstimator::kp2_matched_ |
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◆ T_
| cv::Mat swri_image_util::PitchAndRollEstimator::T_ |
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◆ warper_
| cv::detail::PlaneWarper swri_image_util::PitchAndRollEstimator::warper_ |
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private |
The documentation for this class was generated from the following files: