/// <summary>
/// Computes an optimal limited affine transformation with 4 degrees of freedom between two 2D point sets.
/// </summary>
/// <param name="from">First input 2D point set.</param>
/// <param name="to">Second input 2D point set.</param>
/// <param name="inliners">Output vector indicating which points are inliers.</param>
/// <param name="method">Robust method used to compute transformation.</param>
/// <param name="ransacReprojThreshold">Maximum reprojection error in the RANSAC algorithm to consider a point as an inlier. Applies only to RANSAC.</param>
/// <param name="maxIters">The maximum number of robust method iterations.</param>
/// <param name="confidence">Confidence level, between 0 and 1, for the estimated transformation. Anything between 0.95 and 0.99 is usually good enough. Values too close to 1 can slow down the estimation significantly. Values lower than 0.8-0.9 can result in an incorrectly estimated transformation.</param>
/// <param name="refineIters">Maximum number of iterations of refining algorithm (Levenberg-Marquardt). Passing 0 will disable refining, so the output matrix will be output of robust method.</param>
/// <returns>Output 2D affine transformation (4 degrees of freedom) matrix 2×3 or empty matrix if transformation could not be estimated.</returns>
public static Mat EstimateAffinePartial2D(
IInputArray from, IInputArray to,
IOutputArray inliners,
CvEnum.RobustEstimationAlgorithm method,
double ransacReprojThreshold,
int maxIters, double confidence,
int refineIters)
{
Mat affine = new Mat();
using (InputArray iaFrom = from.GetInputArray())
using (InputArray iaTo = to.GetInputArray())
using (OutputArray oaInliners = inliners == null ? OutputArray.GetEmpty() : inliners.GetOutputArray())
{
cveEstimateAffinePartial2D(
iaFrom,
iaTo,
oaInliners,
method,
ransacReprojThreshold,
maxIters,
confidence,
refineIters,
affine
);
}
return(affine);
}
private static extern void cveEstimateAffinePartial2D(
IntPtr from, IntPtr to,
IntPtr inliners,
CvEnum.RobustEstimationAlgorithm method, double ransacReprojThreshold,
int maxIters, double confidence,
int refineIters,
IntPtr affine);
public static Mat EstimateAffine2D(
PointF[] from, PointF[] to,
IOutputArray inliners = null,
CvEnum.RobustEstimationAlgorithm method = CvEnum.RobustEstimationAlgorithm.Ransac, double ransacReprojThreshold = 3,
int maxIters = 2000, double confidence = 0.99,
int refineIters = 10)
{
using (VectorOfPointF vpFrom = new VectorOfPointF(from))
using (VectorOfPointF vpTo = new VectorOfPointF(to))
{
return(EstimateAffine2D(vpFrom, vpTo, inliners, method, ransacReprojThreshold, maxIters, confidence, refineIters));
}
}
