/// <summary>
/// Recover the homography matrix using RANDSAC. If the matrix cannot be recovered, null is returned.
/// </summary>
/// <param name="model">The model keypoints</param>
/// <param name="observed">The observed keypoints</param>
/// <param name="ransacReprojThreshold">
/// The maximum allowed reprojection error to treat a point pair as an inlier.
/// If srcPoints and dstPoints are measured in pixels, it usually makes sense to set this parameter somewhere in the range 1 to 10.
/// </param>
/// <param name="mask">
/// The mask matrix of which the value might be modified by the function.
/// As input, if the value is 0, the corresponding match will be ignored when computing the homography matrix.
/// If the value is 1 and RANSAC determine the match is an outlier, the value will be set to 0.
/// </param>
/// <returns>The homography matrix, if it cannot be found, null is returned</returns>
/// <param name="matches">Matches. Each matches[i] is k or less matches for the same query descriptor.</param>
public static Mat GetHomographyMatrixFromMatchedFeatures(VectorOfKeyPoint model,
VectorOfKeyPoint observed, VectorOfVectorOfDMatch matches, Mat mask, double ransacReprojThreshold)
{
Mat homography = new Mat();
bool found = Features2DInvoke.getHomographyMatrixFromMatchedFeatures(model, observed, matches, mask,
ransacReprojThreshold, homography);
if (found)
{
return(homography);
}
else
{
homography.Dispose();
return(null);
}
}
