C++ (Cpp) EstimateRigidTransform Examples

Example #1

File: Frame.cpp Project: caomw/mobot

vector<SiftMatch *> Frame::computeRelativeTransform(Frame *next, float *Rt) {
  fprintf(stderr, "Computing relative transform for frame: %d\n", index);

  for (int i = 0; i < numDevices; i++) {
    Pair *curr_pair = pairs[i];
    Pair *next_pair = next->pairs[i];

    vector<SiftMatch *> currMatches = MatchSiftData(curr_pair->siftData, next_pair->siftData, MatchSiftDistanceL2, 999.0f);
    matches.insert(matches.end(), currMatches.begin(), currMatches.end());

    fprintf(stderr, "\tNumber filtered matched points: %lu\n", currMatches.size());

    // We won't delete the point cloud of the last frame until that pair is
    // deleted. Oh well.
    // curr_pair->deletePointCloud();
  }

  // std::ostringstream matchPath;
  // matchPath << "../result/match/match";
  // matchPath << index + 1;
  // ReadMATLABMatchData(curr_match, next_match, matchPath.str().c_str());

  int numMatches[1];
  int numLoops = 1024;
  numLoops = ceil(numLoops / 128) * 128;

  if (matches.size() < 3) {
    cerr << matches.size() << endl;
    exit(-1);
  }

  EstimateRigidTransform(matches, Rt, numMatches, numLoops, 0.05, RigidTransformType2D);

  // std::ostringstream RtPath;
  // RtPath << "../result/Rt/Rt";
  // RtPath << index + 1;
  // ReadMATLABRt(Rt, RtPath.str().c_str());

  // cv::Mat imRresult = PrintMatchData(curr_pair->siftData, next_pair->siftData, curr_pair->gray, next_pair->gray);
  // printf("write image\n");

  // std::ostringstream imresult_path;
  // imresult_path << "../result/imRresult_beforeransac_";
  // imresult_path << index;
  // imresult_path << ".jpg";
  // cv::imwrite(imresult_path.str().c_str(), imRresult);
  // imRresult.release();

  return matches;
}

Example #2

File: Frame.cpp Project: COS518/mobot

void Frame::computeRelativeTransform(Frame *next) {
  fprintf(stderr, "Computing relative transform for frame: %d\n", index);
  Pair *curr_pair = pairs[0];
  Pair *next_pair = next->pairs[0];

  // Container for sift match points
  cv::Mat curr_match(0, 3, cv::DataType<float>::type);
  cv::Mat next_match(0, 3, cv::DataType<float>::type);

  int numMatchedPoints = curr_pair->getMatched3DPoints(next_pair, curr_match, next_match);
  fprintf(stderr, "Number matched points: %d\n", numMatchedPoints);

  // std::ostringstream matchPath;
  // matchPath << "../result/match/match";
  // matchPath << index + 1;
  // ReadMATLABMatchData(curr_match, next_match, matchPath.str().c_str());
  
  int numMatches[1];
  int numLoops = 1024;
  numLoops = ceil(numLoops / 128) * 128;

  EstimateRigidTransform(curr_match, next_match, Rt_relative, numMatches, numLoops, 0.05);

  // std::ostringstream RtPath;
  // RtPath << "../result/Rt/Rt";
  // RtPath << index + 1;
  // ReadMATLABRt(Rt_relative, RtPath.str().c_str());

  // cv::Mat imRresult = PrintMatchData(curr_pair->siftData, next_pair->siftData, curr_pair->gray, next_pair->gray);
  // printf("write image\n");

  // std::ostringstream imresult_path;
  // imresult_path << "../result/imRresult_beforeransac_";
  // imresult_path << index;
  // imresult_path << ".jpg";
  // cv::imwrite(imresult_path.str().c_str(), imRresult);
  // imRresult.release();

  curr_match.release();
  next_match.release();
}