Accord.Imaging.RansacHomographyEstimator.Estimate C# (CSharp) Method

        public MatrixH Estimate(Accord.Point[][] points)
        {
            return Estimate(points[0], points[1]);
        }

        public void Panorama_Example1()
        {
            Accord.Math.Tools.SetupGenerator(0);

            // Let's start with two pictures that have been
            // taken from slightly different points of view:
            //
            Bitmap img1 = Resources.dc_left;
            Bitmap img2 = Resources.dc_right;

            // Those pictures are shown below:
            // ImageBox.Show(img1, PictureBoxSizeMode.Zoom, 640, 480);
            // ImageBox.Show(img2, PictureBoxSizeMode.Zoom, 640, 480);


            // Step 1: Detect feature points using Surf Corners Detector
            var surf = new SpeededUpRobustFeaturesDetector();

            var points1 = surf.ProcessImage(img1);
            var points2 = surf.ProcessImage(img2);

            // Step 2: Match feature points using a k-NN
            var matcher = new KNearestNeighborMatching(5);
            var matches = matcher.Match(points1, points2);

            // Step 3: Create the matrix using a robust estimator
            var ransac = new RansacHomographyEstimator(0.001, 0.99);
            MatrixH homographyMatrix = ransac.Estimate(matches);

            Assert.AreEqual(1.13583624f, homographyMatrix.Elements[0], 1e-5);
            Assert.AreEqual(-0.0229569562f, homographyMatrix.Elements[1], 1e-5);
            Assert.AreEqual(-255.243988f, homographyMatrix.Elements[2], 1e-2);
            Assert.AreEqual(0.080111593f, homographyMatrix.Elements[3], 1e-5);
            Assert.AreEqual(1.11404252f, homographyMatrix.Elements[4], 1e-5);
            Assert.AreEqual(-167.362167f, homographyMatrix.Elements[5], 1e-2);
            Assert.AreEqual(0.00011207442f, homographyMatrix.Elements[6], 1e-5);
            Assert.AreEqual(0.0000529394056f, homographyMatrix.Elements[7], 1e-5);
            Assert.AreEqual(8, homographyMatrix.Elements.Length);


            // Step 4: Project and blend using the homography
            Blend blend = new Blend(homographyMatrix, img1);


            // Compute the blending algorithm
            Bitmap result = blend.Apply(img2);

            // Show on screen
            // ImageBox.Show(result, PictureBoxSizeMode.Zoom, 640, 480);

#pragma warning disable 618
            double[,] expected = Properties.Resources.blend_result.ToDoubleMatrix(0);
            double[,] actual = result.ToDoubleMatrix(0);
            Assert.IsTrue(Matrix.IsEqual(expected, actual, 0.1));
#pragma warning restore 618
        }