00001 // ***************************************************************************** 00002 // 00003 // Copyright (c) 2014, Southwest Research Institute® (SwRI®) 00004 // All rights reserved. 00005 // 00006 // Redistribution and use in source and binary forms, with or without 00007 // modification, are permitted provided that the following conditions are met: 00008 // * Redistributions of source code must retain the above copyright 00009 // notice, this list of conditions and the following disclaimer. 00010 // * Redistributions in binary form must reproduce the above copyright 00011 // notice, this list of conditions and the following disclaimer in the 00012 // documentation and/or other materials provided with the distribution. 00013 // * Neither the name of Southwest Research Institute® (SwRI®) nor the 00014 // names of its contributors may be used to endorse or promote products 00015 // derived from this software without specific prior written permission. 00016 // 00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 // ARE DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY 00021 // DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES 00022 // (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00023 // LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND 00024 // ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT 00025 // (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 00026 // SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. 00027 // 00028 // ***************************************************************************** 00029 00030 #ifndef IMAGE_UTIL_IMAGE_MATCHING_H_ 00031 #define IMAGE_UTIL_IMAGE_MATCHING_H_ 00032 00033 #include <vector> 00034 00035 #include <opencv2/core/core.hpp> 00036 #include <opencv2/features2d/features2d.hpp> 00037 00038 namespace swri_image_util 00039 { 00055 void GetFundamentalInliers(const cv::Mat points1, 00056 const cv::Mat points2, 00057 cv::Mat& fundamental_matrix, 00058 cv::Mat& inliers1, 00059 cv::Mat& inliers2, 00060 double max_distance = 1.0, 00061 double confidence = 0.99); 00062 00079 void GetFundamentalInliers(const cv::Mat points1, 00080 const cv::Mat points2, 00081 cv::Mat& fundamental_matrix, 00082 cv::Mat& inliers1, 00083 cv::Mat& inliers2, 00084 std::vector<uint32_t>& indices, 00085 double max_distance = 1.0, 00086 double confidence = 0.99); 00087 00088 00100 void ConvertMatches(const std::vector<cv::KeyPoint>& kp1, 00101 const std::vector<cv::KeyPoint>& kp2, 00102 const std::vector<cv::DMatch>& matches, 00103 cv::Mat& kp1_out, 00104 cv::Mat& kp2_out); 00105 } 00106 00107 #endif // IMAGE_UTIL_IMAGE_MATCHING_H_ 00108