TEST_F(TestRansac, TestDrawInliers) {
// Load two images and compute feature matches. Draw matches with and without
// RANSAC.
if (!FLAGS_ransac_draw_feature_matches) {
return;
}
// Get some noisy feature matches.
Image image1(test_image1.c_str());
Image image2(test_image2.c_str());
image1.Resize(0.25);
image2.Resize(0.25);
KeypointDetector detector;
detector.SetDetector("SIFT");
KeypointList keypoints1;
KeypointList keypoints2;
detector.DetectKeypoints(image1, keypoints1);
detector.DetectKeypoints(image2, keypoints2);
// DistanceMetric::Instance().SetMetric(DistanceMetric::Metric::SCALED_L2);
DescriptorExtractor extractor;
extractor.SetDescriptor("SIFT");
std::vector<Feature> features1;
std::vector<Feature> features2;
std::vector<Descriptor> descriptors1;
std::vector<Descriptor> descriptors2;
extractor.DescribeFeatures(image1, keypoints1, features1, descriptors1);
extractor.DescribeFeatures(image2, keypoints2, features2, descriptors2);
FeatureMatcherOptions matcher_options;
matcher_options.distance_metric = "SCALED_L2";
NaiveMatcher2D2D feature_matcher;
feature_matcher.AddImageFeatures(features1, descriptors1);
feature_matcher.AddImageFeatures(features2, descriptors2);
PairwiseImageMatchList image_matches;
feature_matcher.MatchImages(matcher_options, image_matches);
ASSERT_TRUE(image_matches.size() == 1);
// RANSAC the feature matches to get inliers.
FundamentalMatrixRansacProblem problem;
problem.SetData(image_matches[0].feature_matches_);
// Create the ransac solver, set options, and run RANSAC on the problem.
Ransac<FeatureMatch, FundamentalMatrixRansacModel> solver;
RansacOptions ransac_options;
ransac_options.iterations = 5000;
ransac_options.acceptable_error = 1e-3;
ransac_options.minimum_num_inliers = 100;
ransac_options.num_samples = 8;
solver.SetOptions(ransac_options);
solver.Run(problem);
ASSERT_TRUE(problem.SolutionFound());
drawing::DrawImageFeatureMatches(image1, image2,
image_matches[0].feature_matches_,
"Noisy Matched Features");
const FeatureMatchList& inliers = problem.Inliers();
drawing::DrawImageFeatureMatches(image1, image2, inliers,
"Inlier Matched Features");
}
