Function testEssentialMatrixFitting

examples/cpp_example.cpp:1498–1683

}

void testEssentialMatrixFitting(
	const std::string& source_path_,
	const std::string& destination_path_,
	const std::string& source_intrinsics_path_,
	const std::string& destination_intrinsics_path_,
	const std::string& out_correspondence_path_,
	const std::string& in_correspondence_path_,
	const std::string& output_match_image_path_,
	const double confidence_,
	const double inlier_outlier_threshold_,
	const double spatial_coherence_weight_,
	const size_t cell_number_in_neighborhood_graph_,
	const int fps_,
	const double minimum_inlier_ratio_for_sprt_) // An assumption about the minimum inlier ratio used for the SPRT test
{
	// Read the images
	cv::Mat source_image = cv::imread(source_path_);
	cv::Mat destination_image = cv::imread(destination_path_);

	if (source_image.empty()) // Check if the source image is loaded successfully
	{
		printf("An error occured while loading image '%s'\n",
			source_path_.c_str());
		return;
	}

	if (destination_image.empty()) // Check if the destination image is loaded successfully
	{
		printf("An error occured while loading image '%s'\n",
			destination_path_.c_str());
		return;
	}

	// Detect or load point correspondences using AKAZE 
	cv::Mat points;
	utils::detectFeatures(
		in_correspondence_path_, // The path where the correspondences are read from or saved to.
		source_image, // The source image
		destination_image, // The destination image
		points); // The detected point correspondences. Each row is of format "x1 y1 x2 y2"

	// Load the intrinsic camera matrices
	Eigen::Matrix3d intrinsics_src,
		intrinsics_dst;

	if (!utils::loadMatrix<double, 3, 3>(source_intrinsics_path_,
		intrinsics_src))
	{
		printf("An error occured when loading the intrinsics camera matrix from '%s'\n",
			source_intrinsics_path_.c_str());
		return;
	}

	if (!utils::loadMatrix<double, 3, 3>(destination_intrinsics_path_,
		intrinsics_dst))
	{
		printf("An error occured when loading the intrinsics camera matrix from '%s'\n",
			destination_intrinsics_path_.c_str());