From e08a242d6f953adb045bea1c13e36bdf4fa65976 Mon Sep 17 00:00:00 2001 From: asantamaria <asantamaria@iri.upc.edu> Date: Wed, 9 Jan 2019 16:02:54 +0100 Subject: [PATCH] New draw functions --- src/matchers/matcher_base.cpp | 10 +++++----- 1 file changed, 5 insertions(+), 5 deletions(-) diff --git a/src/matchers/matcher_base.cpp b/src/matchers/matcher_base.cpp index 3a186e6..0f17eb1 100644 --- a/src/matchers/matcher_base.cpp +++ b/src/matchers/matcher_base.cpp @@ -312,13 +312,13 @@ void MatcherBase::filterByDistance(const KeyPointVector& _raw_kps1, } void MatcherBase::ransacTest(const KeyPointVector& _raw_kps1, - const KeyPointVector& _raw_kps2, - const DMatchVector& _raw_matches, - DMatchVector& _inlier_matches) + const KeyPointVector& _raw_kps2, + const DMatchVector& _raw_matches, + DMatchVector& _inlier_matches) { std::vector<Scalar> normalized_scores; - if (_raw_matches.size() > 0) + if (_raw_matches.size() > 8) // RANSAC requires at least 8 points { // Convert keypoints into Point2f PointVector raw_pts1, raw_pts2; @@ -333,7 +333,7 @@ void MatcherBase::ransacTest(const KeyPointVector& _raw_kps1, cv::Mat fundemental= cv::findFundamentalMat(raw_pts1, raw_pts2, // matching points inliers, // match status (inlier ou outlier) - CV_FM_RANSAC, // RANSAC method + CV_FM_RANSAC, // RANSAC / LMEDS method params_base_ptr_->ransac_epipolar_distance, // distance to epipolar line params_base_ptr_->ransac_confidence_prob); // confidence probability -- GitLab