sparse_stereo.cpp File Reference

#include "sparse_stereo.hpp"
#include <Eigen/Core>
#include <iostream>
#include <opencv2/core/eigen.hpp>
#include "ransac.hpp"
#include "psurf.h"
#include <thread>

Functions
cv::Point	eigen2cv (const Eigen::Vector2d &point)
Eigen::Vector2d	cv2eigen (const cv::Point &point)
bool	robustMatch (std::vector< cv::DMatch > &matches, float distanceFactor=2.0)

Function Documentation

Eigen::Vector2d cv2eigen

(

const cv::Point &

point

)

cv::Point eigen2cv

(

const Eigen::Vector2d &

point

)

bool robustMatch	(	std::vector< cv::DMatch > &	matches,
		float	distanceFactor = 2.0
	)

check if a match for knn > 1 is robust, by making sure, the distance to the next match is further away than the first by a specific factor.