/**
Method to register two images using the simple pairwise algorithm without allocating memory
@param srcIm: Source Image
@param dstIm: Destination image
@param Covar: CvMat Not used
@param pInterframePoorFlag: Detection Flag
@param pA: Not Used
@param pB: Not Used
@return void
*/
void InterframeRegister::Register( Mat srcIm, Mat dstIm, Mat &pTransform, Mat pCovar, bool pInterframePoorFlag)
{
/* init transform to identity */
setIdentity(pTransform);
/* image params */
const Size szCurr = srcIm.size();
/* registration parameters */
double bound[2][2] = {0.0};
double transform[3][3] = {0.0};
vector <Point2f> ptSrc (InterframeRegister::MAX_KLT_POINTS);
/* Contrast stretch */
Mat srcStretch = srcIm.clone();
Mat dstStretch = dstIm.clone();
cvutStdDevStretch( srcStretch , srcStretch );
cvutStdDevStretch( dstStretch , dstStretch );
////////////////////////////////////////////////////////
/* KLT ONLY. NO SWITCHING TO INTENSITY-BASED */
int cornerCount = InterframeRegister::InitFeatures(srcStretch, ptSrc);
vector <Point2f> ptDst (cornerCount);
/* sanity check for sufficiency */
if(cornerCount < InterframeRegister::INLIER_THRESH)
{
if(pInterframePoorFlag != NULL) pInterframePoorFlag = true;
return;
}
/* find matching points */
cornerCount = TrackFeatures(srcStretch, dstStretch, ptSrc, ptDst, cornerCount);
/* Robust estimation of motion parameters */
vector <Point2d> optInliersL (cornerCount); /* dst */
vector <Point2d> optInliersR (cornerCount); /* src */
pTransform = RunRansac(ptDst, ptSrc, cornerCount, optInliersL, optInliersR, srcIm, dstIm);
}
void FeatureTracker::SetPose(Vector<3, double> newpose)
{
pose = newpose;
if(bSensing)
{
vector<Feature> fs = TrackFeatures(pose);
double rndMin = MIN_FEATURES * RAND(0.7,1.3);
//printf("%d\n",fs.size());
if(fs.size() < rndMin)
{
GenerateFeatures(rndMin - fs.size(), pose);
}
UpdateMatchedFeatures();
}
}
void FeatureTracker::UpdateMatchedFeatures()
{
matchedFeatures = TrackFeatures(pose);
}
