#include <swri_image_util/image_matching.h>#include <algorithm>#include <vector>#include <opencv2/imgproc/imgproc.hpp>#include <opencv2/highgui/highgui.hpp>#include <opencv2/calib3d/calib3d.hpp>#include <ros/ros.h>
Include dependency graph for image_matching.cpp:
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Namespaces | |
| namespace | swri_image_util |
Functions | |
| void | swri_image_util::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 are ordered in the same manner. | |
| void | swri_image_util::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 | swri_image_util::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) |
| Computes the fundamental matrix for a set of matching points in two different images. The method also returns the inlier keypoints for both frames. | |