InitialHomographyEstimator Class Reference

Estimates a rough 2D homography registering two images. More...

Public Member Functions
void	setTemplateImage (const uint8_t *grayData, int width, int height, int stride, int downsampleFactor)
void	setTestImage (const uint8_t *grayData, int width, int height, int stride, int downsampleFactor)
Eigen::Matrix3f	track (const Eigen::Matrix3f &init_H, int nIters, double *finalRMS)

Detailed Description

Estimates a rough 2D homography registering two images.

Member Function Documentation

void setTemplateImage	(	const uint8_t *	grayData,
		int	width,
		int	height,
		int	stride,
		int	downsampleFactor
	)

Set the template image to the passed in arguments. assumes the image data is row-major. The image will be downsampled by

void setTestImage	(	const uint8_t *	grayData,
		int	width,
		int	height,
		int	stride,
		int	downsampleFactor
	)

Set the test image accordingly. The opimization will warp this image to match the template assumes the image data is row-major. The image will be downsampled by

Eigen::Matrix3f track	(	const Eigen::Matrix3f &	init_H,
		int	nIters,
		double *	finalRMS
	)

Run ESM to find the homography between the template and test images. These should have already been passed in using the methods setTemplateImage(), and setTestImage().

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The documentation for this class was generated from the following file:

• initial_homography_estimation.hpp