public void UseRansacAlgorithm(int iterationsCount = 1000, float r = 5, float R = 700, bool secondError = true)
{
var min = GetMinSide();
r = min * 0.05f;
R = min * 0.3f;
RansacTriangle = Ransac.RansacAlgorithm(ConsistencyNeighbourPairs, iterationsCount, r, R, secondError);
RansacFilterNeighbourPairs = Ransac.RansacFilterKeyPoint(ConsistencyNeighbourPairs, RansacTriangle, R);
}
private Image <Bgr, byte> CreateMargedImage(
Image <Bgr, byte> firstImage, Image <Bgr, byte> secondImage,
Dictionary <KeyPoint, KeyPoint> pairs, KeyPairsTriangle ransacTriangle)
{
// Marge image.
var margedImageWidth = firstImage.Width + secondImage.Width;
var margedImageHeight = Math.Max(firstImage.Height, secondImage.Height);
var imageResult = new Image <Bgr, byte>(margedImageWidth, margedImageHeight)
{
ROI = new Rectangle(0, 0, firstImage.Width, firstImage.Height)
};
firstImage.CopyTo(imageResult);
imageResult.ROI = new Rectangle(firstImage.Width, 0, secondImage.Width, secondImage.Height);
secondImage.CopyTo(imageResult);
imageResult.ROI = Rectangle.Empty;
// Use Ransac.
if (ransacTriangle != null)
{
var firstTriangle = ransacTriangle.GetFirstTriangle();
var secondTriangle = ransacTriangle.GetSecondTriangle();
var triangleColor = new Bgr(Color.Black).MCvScalar;
CvInvoke.Line(imageResult, firstTriangle[0], firstTriangle[1], triangleColor, 2);
CvInvoke.Line(imageResult, firstTriangle[1], firstTriangle[2], triangleColor, 2);
CvInvoke.Line(imageResult, firstTriangle[2], firstTriangle[0], triangleColor, 2);
CvInvoke.Line(imageResult, secondTriangle[0].ChangeOffset(firstImage.Width),
secondTriangle[1].ChangeOffset(firstImage.Width), triangleColor, 2);
CvInvoke.Line(imageResult, secondTriangle[1].ChangeOffset(firstImage.Width),
secondTriangle[2].ChangeOffset(firstImage.Width), triangleColor, 2);
CvInvoke.Line(imageResult, secondTriangle[2].ChangeOffset(firstImage.Width),
secondTriangle[0].ChangeOffset(firstImage.Width), triangleColor, 2);
}
// Draw lines.
foreach (var _pair in pairs)
{
var start = new Point((int)_pair.Key.X, (int)_pair.Key.Y);
var second = new Point((int)_pair.Value.X + firstImage.Width, (int)_pair.Value.Y);
CvInvoke.Line(imageResult, start, second, new Bgr(_pair.Key.Color).MCvScalar, 1);
}
return(imageResult);
}