void MatchesPointsToMat
(
const matching::IndMatches & putativeMatches,
const cameras::IntrinsicBase * cam_I,
const features::PointFeatures & feature_I,
const cameras::IntrinsicBase * cam_J,
const features::PointFeatures & feature_J,
MatT & x_I, MatT & x_J
)
{
const size_t n = putativeMatches.size();
x_I.resize(2, n);
x_J.resize(2, n);
typedef typename MatT::Scalar Scalar; // Output matrix type
for (size_t i=0; i < putativeMatches.size(); ++i) {
const features::PointFeature & pt_I = feature_I[putativeMatches[i].i_];
const features::PointFeature & pt_J = feature_J[putativeMatches[i].j_];
if (cam_I)
x_I.col(i) = cam_I->get_ud_pixel(pt_I.coords().cast<double>());
else
x_I.col(i) = pt_I.coords().cast<double>();
if (cam_J)
x_J.col(i) = cam_J->get_ud_pixel(pt_J.coords().cast<double>());
else
x_J.col(i) = pt_J.coords().cast<double>();
}
}
static void PointsToMat(
const IntrinsicBase * cam,
const PointFeatures & vec_feats,
MatT & m)
{
m.resize(2, vec_feats.size());
typedef typename MatT::Scalar Scalar; // Output matrix type
size_t i = 0;
for( PointFeatures::const_iterator iter = vec_feats.begin();
iter != vec_feats.end(); ++iter, ++i)
{
if (cam)
m.col(i) = cam->get_ud_pixel(Vec2(iter->x(), iter->y()));
else
m.col(i) << iter->x(), iter->y();
}
}