Function swri_image_util::GetFundamentalInliers(const cv::Mat, const cv::Mat, cv::Mat&, cv::Mat&, cv::Mat&, std::vector<uint32_t>&, double, double)

Function Documentation

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.

Parameters:

  • points1 – [in] The keypoints for the first image

  • points2 – [in] The matching keypoints for a second image

  • fundamental_matrix – [out] The computed fundamental matrix

  • inliers1 – [out] The inlier keypoints from the first set

  • inliers2 – [out] The inlier keypoints from the second set

  • indices – [out] The indices of the inlier keypoints

  • max_distance – [in] The maximum allowable distance (in pixels) from the computed epipolar line

  • confidence – [in] The confidence level (which affects the number of iterations)