Homography autoHomography(const Image<Color>&I1,const Image<Color>&I2,bool ransac=false) {
Detector d;
Array<Feat> feats1=d.run(I1);
drawFeatures(feats1);
Array<Feat> feats2=d.run(I2);
drawFeatures(feats2,IntPoint2(I1.width(),0));
MatchList matches=loweMatch(feats1,feats2,.5,true);
cout << matches.size() << " matches" << endl;
drawMatches(feats1,feats2,matches,IntPoint2(0,0),IntPoint2(I1.width(),0),1.,true);
click();
if (ransac) {
Homography H;
double outlier_thres;
double median_res = leastMedianOfSquares<4>(matches.begin(), matches.end(), HomEstimator(feats1,feats2), HomResidual(feats1,feats2),H,&outlier_thres);
MatchList inliers;
for (MatchList::const_iterator it=matches.begin(); it!=matches.end(); it++) {
if ( HomResidual(feats1,feats2)(H,*it) < outlier_thres )
inliers.push_front(*it);
}
cout << inliers.size() << " inliers" << endl;
matches=inliers;
}
return meanHomography(feats1,feats2,matches);
}
