Find Matches using Ransac.
#include <visp/vpPose.h>
#include <visp/vpPoint.h>
#include <visp/vpMath.h>
#include <visp/vpHomogeneousMatrix.h>
#include <stdlib.h>
#include <stdio.h>
#define L 0.1
int
main()
{
{
std::cout << "Find Matches using Ransac" << std::endl;
unsigned int nb3D = 4;
unsigned int nb2D = 8;
std::vector<vpPoint> P(nb3D);
std::vector<vpPoint> p(nb2D);
P[0].setWorldCoordinates(-L,-L, 0 ) ;
P[1].setWorldCoordinates(L,-L, 0 ) ;
P[2].setWorldCoordinates(L,L, 0 ) ;
P[3].setWorldCoordinates(-L,L, 0 ) ;
for(unsigned int i=0 ; i < nb3D ; i++)
{
}
p[4].set_x(0.02) ;
p[4].set_y(0.05) ;
p[5].set_x(0.02) ;
p[5].set_y(-0.05) ;
p[6].set_x(0.07) ;
p[6].set_y(-0.05) ;
p[7].set_x(0.24) ;
p[7].set_y(0.07) ;
unsigned int ninliers ;
std::vector<vpPoint> inliers;
double threshold = 1e-6;
unsigned int nbInlierToReachConsensus = 4;
std::cout << "Inliers: " << std::endl;
for (unsigned int i = 0; i < inliers.size() ; i++)
{
inliers[i].print() ;
std::cout << std::endl;
}
std::cout <<
"cMo :\n" <<
vpPoseVector(cMo).
t() << std::endl << std::endl;
}
}