Function testFundamentalMatrixFitting

examples/cpp_example.cpp:1126–1285

}

void testFundamentalMatrixFitting(
	const std::string& source_path_,
	const std::string& destination_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"

	// Initialize the neighborhood used in Graph-cut RANSAC and, perhaps,
	// in the sampler if NAPSAC or Progressive-NAPSAC sampling is applied.
	std::chrono::time_point<std::chrono::system_clock> start, end; // Variables for time measurement
	start = std::chrono::system_clock::now(); // The starting time of the neighborhood calculation
	neighborhood::GridNeighborhoodGraph<4> neighborhood(&points,
		{ source_image.cols / static_cast<double>(cell_number_in_neighborhood_graph_),
			source_image.rows / static_cast<double>(cell_number_in_neighborhood_graph_),
			destination_image.cols / static_cast<double>(cell_number_in_neighborhood_graph_),
			destination_image.rows / static_cast<double>(cell_number_in_neighborhood_graph_) },
		cell_number_in_neighborhood_graph_);
	end = std::chrono::system_clock::now(); // The end time of the neighborhood calculation
	std::chrono::duration<double> elapsed_seconds = end - start; // The elapsed time in seconds
	printf("Neighborhood calculation time = %f secs\n", elapsed_seconds.count());

	// Checking if the neighborhood graph is initialized successfully.
	if (!neighborhood.isInitialized())
	{
		fprintf(stderr, "The neighborhood graph is not initialized successfully.\n");
		return;