/// <summary>
/// Matches two sets of points using RANSAC.
/// </summary>
///
/// <returns>The fundamental matrix relating x1 and x2.</returns>
///
public float[,] Estimate(PointF[] points1, PointF[] points2)
{
// Initial argument checks
if (points1.Length != points2.Length)
{
throw new ArgumentException("The number of points should be equal.");
}
if (points1.Length < 8)
{
throw new ArgumentException("At least eight points are required.");
}
// Normalize each set of points so that the origin is
// at centroid and mean distance from origin is sqrt(2).
float[,] T1, T2;
this.pointSet1 = Tools.Normalize(points1, out T1);
this.pointSet2 = Tools.Normalize(points2, out T2);
// Compute RANSAC and find the inlier points
float[,] F = ransac.Compute(points1.Length, out inliers);
if (inliers == null || inliers.Length < 8)
{
return(null);
}
// Compute the final fundamental
// matrix considering all inliers
F = fundamental(inliers);
// Denormalize
F = T2.TransposeAndDot(F.Dot(T1));
return(F);
}