public static void drawInliers ( BufferedImage left , BufferedImage right , CameraPinholeBrown intrinsic , List < AssociatedPair > normalized ) { Point2Transform2_F64 n_to_p = LensDistortionFactory . narrow ( intrinsic ) . distort_F64 ( false , true ) ; List < AssociatedPair > pixels = new ArrayList <> ( ) ; for ( AssociatedPair n : normalized ) { AssociatedPair p = new AssociatedPair ( ) ; n_to_p . compute ( n . p1 . x , n . p1 . y , p . p1 ) ; n_to_p . compute ( n . p2 . x , n . p2 . y , p . p2 ) ; pixels . add ( p ) ; } // display the results AssociationPanel panel = new AssociationPanel ( 20 ) ; panel . setAssociation ( pixels ) ; panel . setImages ( left , right ) ; ShowImages . showWindow ( panel , "Inlier Features" , true ) ; }
Draw inliers for debugging purposes . Need to convert from normalized to pixel coordinates .