.. _program_listing_file__tmp_ws_src_marti_common_swri_image_util_include_swri_image_util_image_matching.h:

Program Listing for File image_matching.h
=========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_marti_common_swri_image_util_include_swri_image_util_image_matching.h>` (``/tmp/ws/src/marti_common/swri_image_util/include/swri_image_util/image_matching.h``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // *****************************************************************************
   //
   // Copyright (c) 2014, Southwest Research Institute® (SwRI®)
   // All rights reserved.
   //
   // Redistribution and use in source and binary forms, with or without
   // modification, are permitted provided that the following conditions are met:
   //     * Redistributions of source code must retain the above copyright
   //       notice, this list of conditions and the following disclaimer.
   //     * Redistributions in binary form must reproduce the above copyright
   //       notice, this list of conditions and the following disclaimer in the
   //       documentation and/or other materials provided with the distribution.
   //     * Neither the name of Southwest Research Institute® (SwRI®) nor the
   //       names of its contributors may be used to endorse or promote products
   //       derived from this software without specific prior written permission.
   //
   // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
   // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
   // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
   // ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
   // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
   // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
   // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
   // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
   // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
   //
   // *****************************************************************************
   
   #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_