void myMatch2CvMatch(const Matching& myMatch , DMatchVec& cvMatch) {
int numMatch = myMatch.num;
cvMatch.clear();
cvMatch.reserve(numMatch * 2);
for (int i = 0; i < numMatch; i++) {
cvMatch.push_back(cv::DMatch(myMatch[i].idx1, myMatch[i].idx2, myMatch[i].dist));
}
}
void cvMatch2MyMatch(const DMatchVec& cvMatch , Matching& myMatch) {
int numMatch = cvMatch.size();
myMatch.reserve(numMatch);
for (int i = 0; i < numMatch; i++) {
myMatch.add(cvMatch[i].queryIdx, cvMatch[i].trainIdx, cvMatch[i].distance);
}
}
// Remove matches for which NN ratio is > than threshold
// return the number of removed points
int RobustMatcher::ratioTest(const DMatchVec2 &matches, DMatchVec &good_matches,
const KeyPointVec &kpts1, KeyPointVec &kpts1_out,
const KeyPointVec &kpts2, KeyPointVec &kpts2_out)
{
for(size_t i = 0; i < matches.size(); i++)
{
cv::DMatch first = matches[i][0];
float dist1 = matches[i][0].distance;
float dist2 = matches[i][1].distance;
if(dist1 < nn_match_ratio_ * dist2) {
kpts1_out.push_back(kpts1[first.queryIdx]);
kpts2_out.push_back(kpts2[first.trainIdx]);
good_matches.push_back(first);
}
}
return static_cast<int>(good_matches.size());
}
// Extract the inliers keypoints given a mask
void RobustMatcher::extractInliers(const cv::Mat &inliers_mask,
const KeyPointVec &kpts1, const KeyPointVec &kpts2,
KeyPointVec &kpts1_inliers, KeyPointVec &kpts2_inliers,
DMatchVec &inliers_matches)
{
for(unsigned i = 0; i < kpts1.size(); i++)
{
if(inliers_mask.at<uchar>(i)) {
int new_i = static_cast<int>(kpts1_inliers.size());
kpts1_inliers.push_back(kpts1[i]);
kpts2_inliers.push_back(kpts2[i]);
inliers_matches.push_back(cv::DMatch(new_i, new_i, 0));
}
}
}
