Renesas / opencv-lib

openCV library for Renesas RZ/A

Dependents:   RZ_A2M_Mbed_samples

include/opencv2/stitching/detail/motion_estimators.hpp@0:0e0631af0305, 2021-01-29 (annotated)

Committer:
RyoheiHagimoto
Date:
Fri Jan 29 04:53:38 2021 +0000
Revision:
0:0e0631af0305
copied from https://github.com/d-kato/opencv-lib.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
RyoheiHagimoto 0:0e0631af0305 1 /*M///////////////////////////////////////////////////////////////////////////////////////
RyoheiHagimoto 0:0e0631af0305 2 //
RyoheiHagimoto 0:0e0631af0305 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
RyoheiHagimoto 0:0e0631af0305 4 //
RyoheiHagimoto 0:0e0631af0305 5 // By downloading, copying, installing or using the software you agree to this license.
RyoheiHagimoto 0:0e0631af0305 6 // If you do not agree to this license, do not download, install,
RyoheiHagimoto 0:0e0631af0305 7 // copy or use the software.
RyoheiHagimoto 0:0e0631af0305 8 //
RyoheiHagimoto 0:0e0631af0305 9 //
RyoheiHagimoto 0:0e0631af0305 10 // License Agreement
RyoheiHagimoto 0:0e0631af0305 11 // For Open Source Computer Vision Library
RyoheiHagimoto 0:0e0631af0305 12 //
RyoheiHagimoto 0:0e0631af0305 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
RyoheiHagimoto 0:0e0631af0305 14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved.
RyoheiHagimoto 0:0e0631af0305 15 // Third party copyrights are property of their respective owners.
RyoheiHagimoto 0:0e0631af0305 16 //
RyoheiHagimoto 0:0e0631af0305 17 // Redistribution and use in source and binary forms, with or without modification,
RyoheiHagimoto 0:0e0631af0305 18 // are permitted provided that the following conditions are met:
RyoheiHagimoto 0:0e0631af0305 19 //
RyoheiHagimoto 0:0e0631af0305 20 // * Redistribution's of source code must retain the above copyright notice,
RyoheiHagimoto 0:0e0631af0305 21 // this list of conditions and the following disclaimer.
RyoheiHagimoto 0:0e0631af0305 22 //
RyoheiHagimoto 0:0e0631af0305 23 // * Redistribution's in binary form must reproduce the above copyright notice,
RyoheiHagimoto 0:0e0631af0305 24 // this list of conditions and the following disclaimer in the documentation
RyoheiHagimoto 0:0e0631af0305 25 // and/or other materials provided with the distribution.
RyoheiHagimoto 0:0e0631af0305 26 //
RyoheiHagimoto 0:0e0631af0305 27 // * The name of the copyright holders may not be used to endorse or promote products
RyoheiHagimoto 0:0e0631af0305 28 // derived from this software without specific prior written permission.
RyoheiHagimoto 0:0e0631af0305 29 //
RyoheiHagimoto 0:0e0631af0305 30 // This software is provided by the copyright holders and contributors "as is" and
RyoheiHagimoto 0:0e0631af0305 31 // any express or implied warranties, including, but not limited to, the implied
RyoheiHagimoto 0:0e0631af0305 32 // warranties of merchantability and fitness for a particular purpose are disclaimed.
RyoheiHagimoto 0:0e0631af0305 33 // In no event shall the Intel Corporation or contributors be liable for any direct,
RyoheiHagimoto 0:0e0631af0305 34 // indirect, incidental, special, exemplary, or consequential damages
RyoheiHagimoto 0:0e0631af0305 35 // (including, but not limited to, procurement of substitute goods or services;
RyoheiHagimoto 0:0e0631af0305 36 // loss of use, data, or profits; or business interruption) however caused
RyoheiHagimoto 0:0e0631af0305 37 // and on any theory of liability, whether in contract, strict liability,
RyoheiHagimoto 0:0e0631af0305 38 // or tort (including negligence or otherwise) arising in any way out of
RyoheiHagimoto 0:0e0631af0305 39 // the use of this software, even if advised of the possibility of such damage.
RyoheiHagimoto 0:0e0631af0305 40 //
RyoheiHagimoto 0:0e0631af0305 41 //M*/
RyoheiHagimoto 0:0e0631af0305 42
RyoheiHagimoto 0:0e0631af0305 43 #ifndef OPENCV_STITCHING_MOTION_ESTIMATORS_HPP
RyoheiHagimoto 0:0e0631af0305 44 #define OPENCV_STITCHING_MOTION_ESTIMATORS_HPP
RyoheiHagimoto 0:0e0631af0305 45
RyoheiHagimoto 0:0e0631af0305 46 #include "opencv2/core.hpp"
RyoheiHagimoto 0:0e0631af0305 47 #include "matchers.hpp"
RyoheiHagimoto 0:0e0631af0305 48 #include "util.hpp"
RyoheiHagimoto 0:0e0631af0305 49 #include "camera.hpp"
RyoheiHagimoto 0:0e0631af0305 50
RyoheiHagimoto 0:0e0631af0305 51 namespace cv {
RyoheiHagimoto 0:0e0631af0305 52 namespace detail {
RyoheiHagimoto 0:0e0631af0305 53
RyoheiHagimoto 0:0e0631af0305 54 //! @addtogroup stitching_rotation
RyoheiHagimoto 0:0e0631af0305 55 //! @{
RyoheiHagimoto 0:0e0631af0305 56
RyoheiHagimoto 0:0e0631af0305 57 /** @brief Rotation estimator base class.
RyoheiHagimoto 0:0e0631af0305 58
RyoheiHagimoto 0:0e0631af0305 59 It takes features of all images, pairwise matches between all images and estimates rotations of all
RyoheiHagimoto 0:0e0631af0305 60 cameras.
RyoheiHagimoto 0:0e0631af0305 61
RyoheiHagimoto 0:0e0631af0305 62 @note The coordinate system origin is implementation-dependent, but you can always normalize the
RyoheiHagimoto 0:0e0631af0305 63 rotations in respect to the first camera, for instance. :
RyoheiHagimoto 0:0e0631af0305 64 */
RyoheiHagimoto 0:0e0631af0305 65 class CV_EXPORTS Estimator
RyoheiHagimoto 0:0e0631af0305 66 {
RyoheiHagimoto 0:0e0631af0305 67 public:
RyoheiHagimoto 0:0e0631af0305 68 virtual ~Estimator() {}
RyoheiHagimoto 0:0e0631af0305 69
RyoheiHagimoto 0:0e0631af0305 70 /** @brief Estimates camera parameters.
RyoheiHagimoto 0:0e0631af0305 71
RyoheiHagimoto 0:0e0631af0305 72 @param features Features of images
RyoheiHagimoto 0:0e0631af0305 73 @param pairwise_matches Pairwise matches of images
RyoheiHagimoto 0:0e0631af0305 74 @param cameras Estimated camera parameters
RyoheiHagimoto 0:0e0631af0305 75 @return True in case of success, false otherwise
RyoheiHagimoto 0:0e0631af0305 76 */
RyoheiHagimoto 0:0e0631af0305 77 bool operator ()(const std::vector<ImageFeatures> &features,
RyoheiHagimoto 0:0e0631af0305 78 const std::vector<MatchesInfo> &pairwise_matches,
RyoheiHagimoto 0:0e0631af0305 79 std::vector<CameraParams> &cameras)
RyoheiHagimoto 0:0e0631af0305 80 { return estimate(features, pairwise_matches, cameras); }
RyoheiHagimoto 0:0e0631af0305 81
RyoheiHagimoto 0:0e0631af0305 82 protected:
RyoheiHagimoto 0:0e0631af0305 83 /** @brief This method must implement camera parameters estimation logic in order to make the wrapper
RyoheiHagimoto 0:0e0631af0305 84 detail::Estimator::operator()_ work.
RyoheiHagimoto 0:0e0631af0305 85
RyoheiHagimoto 0:0e0631af0305 86 @param features Features of images
RyoheiHagimoto 0:0e0631af0305 87 @param pairwise_matches Pairwise matches of images
RyoheiHagimoto 0:0e0631af0305 88 @param cameras Estimated camera parameters
RyoheiHagimoto 0:0e0631af0305 89 @return True in case of success, false otherwise
RyoheiHagimoto 0:0e0631af0305 90 */
RyoheiHagimoto 0:0e0631af0305 91 virtual bool estimate(const std::vector<ImageFeatures> &features,
RyoheiHagimoto 0:0e0631af0305 92 const std::vector<MatchesInfo> &pairwise_matches,
RyoheiHagimoto 0:0e0631af0305 93 std::vector<CameraParams> &cameras) = 0;
RyoheiHagimoto 0:0e0631af0305 94 };
RyoheiHagimoto 0:0e0631af0305 95
RyoheiHagimoto 0:0e0631af0305 96 /** @brief Homography based rotation estimator.
RyoheiHagimoto 0:0e0631af0305 97 */
RyoheiHagimoto 0:0e0631af0305 98 class CV_EXPORTS HomographyBasedEstimator : public Estimator
RyoheiHagimoto 0:0e0631af0305 99 {
RyoheiHagimoto 0:0e0631af0305 100 public:
RyoheiHagimoto 0:0e0631af0305 101 HomographyBasedEstimator(bool is_focals_estimated = false)
RyoheiHagimoto 0:0e0631af0305 102 : is_focals_estimated_(is_focals_estimated) {}
RyoheiHagimoto 0:0e0631af0305 103
RyoheiHagimoto 0:0e0631af0305 104 private:
RyoheiHagimoto 0:0e0631af0305 105 virtual bool estimate(const std::vector<ImageFeatures> &features,
RyoheiHagimoto 0:0e0631af0305 106 const std::vector<MatchesInfo> &pairwise_matches,
RyoheiHagimoto 0:0e0631af0305 107 std::vector<CameraParams> &cameras);
RyoheiHagimoto 0:0e0631af0305 108
RyoheiHagimoto 0:0e0631af0305 109 bool is_focals_estimated_;
RyoheiHagimoto 0:0e0631af0305 110 };
RyoheiHagimoto 0:0e0631af0305 111
RyoheiHagimoto 0:0e0631af0305 112 /** @brief Affine transformation based estimator.
RyoheiHagimoto 0:0e0631af0305 113
RyoheiHagimoto 0:0e0631af0305 114 This estimator uses pairwise tranformations estimated by matcher to estimate
RyoheiHagimoto 0:0e0631af0305 115 final transformation for each camera.
RyoheiHagimoto 0:0e0631af0305 116
RyoheiHagimoto 0:0e0631af0305 117 @sa cv::detail::HomographyBasedEstimator
RyoheiHagimoto 0:0e0631af0305 118 */
RyoheiHagimoto 0:0e0631af0305 119 class CV_EXPORTS AffineBasedEstimator : public Estimator
RyoheiHagimoto 0:0e0631af0305 120 {
RyoheiHagimoto 0:0e0631af0305 121 private:
RyoheiHagimoto 0:0e0631af0305 122 virtual bool estimate(const std::vector<ImageFeatures> &features,
RyoheiHagimoto 0:0e0631af0305 123 const std::vector<MatchesInfo> &pairwise_matches,
RyoheiHagimoto 0:0e0631af0305 124 std::vector<CameraParams> &cameras);
RyoheiHagimoto 0:0e0631af0305 125 };
RyoheiHagimoto 0:0e0631af0305 126
RyoheiHagimoto 0:0e0631af0305 127 /** @brief Base class for all camera parameters refinement methods.
RyoheiHagimoto 0:0e0631af0305 128 */
RyoheiHagimoto 0:0e0631af0305 129 class CV_EXPORTS BundleAdjusterBase : public Estimator
RyoheiHagimoto 0:0e0631af0305 130 {
RyoheiHagimoto 0:0e0631af0305 131 public:
RyoheiHagimoto 0:0e0631af0305 132 const Mat refinementMask() const { return refinement_mask_.clone(); }
RyoheiHagimoto 0:0e0631af0305 133 void setRefinementMask(const Mat &mask)
RyoheiHagimoto 0:0e0631af0305 134 {
RyoheiHagimoto 0:0e0631af0305 135 CV_Assert(mask.type() == CV_8U && mask.size() == Size(3, 3));
RyoheiHagimoto 0:0e0631af0305 136 refinement_mask_ = mask.clone();
RyoheiHagimoto 0:0e0631af0305 137 }
RyoheiHagimoto 0:0e0631af0305 138
RyoheiHagimoto 0:0e0631af0305 139 double confThresh() const { return conf_thresh_; }
RyoheiHagimoto 0:0e0631af0305 140 void setConfThresh(double conf_thresh) { conf_thresh_ = conf_thresh; }
RyoheiHagimoto 0:0e0631af0305 141
RyoheiHagimoto 0:0e0631af0305 142 TermCriteria termCriteria() { return term_criteria_; }
RyoheiHagimoto 0:0e0631af0305 143 void setTermCriteria(const TermCriteria& term_criteria) { term_criteria_ = term_criteria; }
RyoheiHagimoto 0:0e0631af0305 144
RyoheiHagimoto 0:0e0631af0305 145 protected:
RyoheiHagimoto 0:0e0631af0305 146 /** @brief Construct a bundle adjuster base instance.
RyoheiHagimoto 0:0e0631af0305 147
RyoheiHagimoto 0:0e0631af0305 148 @param num_params_per_cam Number of parameters per camera
RyoheiHagimoto 0:0e0631af0305 149 @param num_errs_per_measurement Number of error terms (components) per match
RyoheiHagimoto 0:0e0631af0305 150 */
RyoheiHagimoto 0:0e0631af0305 151 BundleAdjusterBase(int num_params_per_cam, int num_errs_per_measurement)
RyoheiHagimoto 0:0e0631af0305 152 : num_params_per_cam_(num_params_per_cam),
RyoheiHagimoto 0:0e0631af0305 153 num_errs_per_measurement_(num_errs_per_measurement)
RyoheiHagimoto 0:0e0631af0305 154 {
RyoheiHagimoto 0:0e0631af0305 155 setRefinementMask(Mat::ones(3, 3, CV_8U));
RyoheiHagimoto 0:0e0631af0305 156 setConfThresh(1.);
RyoheiHagimoto 0:0e0631af0305 157 setTermCriteria(TermCriteria(TermCriteria::EPS + TermCriteria::COUNT, 1000, DBL_EPSILON));
RyoheiHagimoto 0:0e0631af0305 158 }
RyoheiHagimoto 0:0e0631af0305 159
RyoheiHagimoto 0:0e0631af0305 160 // Runs bundle adjustment
RyoheiHagimoto 0:0e0631af0305 161 virtual bool estimate(const std::vector<ImageFeatures> &features,
RyoheiHagimoto 0:0e0631af0305 162 const std::vector<MatchesInfo> &pairwise_matches,
RyoheiHagimoto 0:0e0631af0305 163 std::vector<CameraParams> &cameras);
RyoheiHagimoto 0:0e0631af0305 164
RyoheiHagimoto 0:0e0631af0305 165 /** @brief Sets initial camera parameter to refine.
RyoheiHagimoto 0:0e0631af0305 166
RyoheiHagimoto 0:0e0631af0305 167 @param cameras Camera parameters
RyoheiHagimoto 0:0e0631af0305 168 */
RyoheiHagimoto 0:0e0631af0305 169 virtual void setUpInitialCameraParams(const std::vector<CameraParams> &cameras) = 0;
RyoheiHagimoto 0:0e0631af0305 170 /** @brief Gets the refined camera parameters.
RyoheiHagimoto 0:0e0631af0305 171
RyoheiHagimoto 0:0e0631af0305 172 @param cameras Refined camera parameters
RyoheiHagimoto 0:0e0631af0305 173 */
RyoheiHagimoto 0:0e0631af0305 174 virtual void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const = 0;
RyoheiHagimoto 0:0e0631af0305 175 /** @brief Calculates error vector.
RyoheiHagimoto 0:0e0631af0305 176
RyoheiHagimoto 0:0e0631af0305 177 @param err Error column-vector of length total_num_matches \* num_errs_per_measurement
RyoheiHagimoto 0:0e0631af0305 178 */
RyoheiHagimoto 0:0e0631af0305 179 virtual void calcError(Mat &err) = 0;
RyoheiHagimoto 0:0e0631af0305 180 /** @brief Calculates the cost function jacobian.
RyoheiHagimoto 0:0e0631af0305 181
RyoheiHagimoto 0:0e0631af0305 182 @param jac Jacobian matrix of dimensions
RyoheiHagimoto 0:0e0631af0305 183 (total_num_matches \* num_errs_per_measurement) x (num_images \* num_params_per_cam)
RyoheiHagimoto 0:0e0631af0305 184 */
RyoheiHagimoto 0:0e0631af0305 185 virtual void calcJacobian(Mat &jac) = 0;
RyoheiHagimoto 0:0e0631af0305 186
RyoheiHagimoto 0:0e0631af0305 187 // 3x3 8U mask, where 0 means don't refine respective parameter, != 0 means refine
RyoheiHagimoto 0:0e0631af0305 188 Mat refinement_mask_;
RyoheiHagimoto 0:0e0631af0305 189
RyoheiHagimoto 0:0e0631af0305 190 int num_images_;
RyoheiHagimoto 0:0e0631af0305 191 int total_num_matches_;
RyoheiHagimoto 0:0e0631af0305 192
RyoheiHagimoto 0:0e0631af0305 193 int num_params_per_cam_;
RyoheiHagimoto 0:0e0631af0305 194 int num_errs_per_measurement_;
RyoheiHagimoto 0:0e0631af0305 195
RyoheiHagimoto 0:0e0631af0305 196 const ImageFeatures *features_;
RyoheiHagimoto 0:0e0631af0305 197 const MatchesInfo *pairwise_matches_;
RyoheiHagimoto 0:0e0631af0305 198
RyoheiHagimoto 0:0e0631af0305 199 // Threshold to filter out poorly matched image pairs
RyoheiHagimoto 0:0e0631af0305 200 double conf_thresh_;
RyoheiHagimoto 0:0e0631af0305 201
RyoheiHagimoto 0:0e0631af0305 202 //Levenberg–Marquardt algorithm termination criteria
RyoheiHagimoto 0:0e0631af0305 203 TermCriteria term_criteria_;
RyoheiHagimoto 0:0e0631af0305 204
RyoheiHagimoto 0:0e0631af0305 205 // Camera parameters matrix (CV_64F)
RyoheiHagimoto 0:0e0631af0305 206 Mat cam_params_;
RyoheiHagimoto 0:0e0631af0305 207
RyoheiHagimoto 0:0e0631af0305 208 // Connected images pairs
RyoheiHagimoto 0:0e0631af0305 209 std::vector<std::pair<int,int> > edges_;
RyoheiHagimoto 0:0e0631af0305 210 };
RyoheiHagimoto 0:0e0631af0305 211
RyoheiHagimoto 0:0e0631af0305 212
RyoheiHagimoto 0:0e0631af0305 213 /** @brief Stub bundle adjuster that does nothing.
RyoheiHagimoto 0:0e0631af0305 214 */
RyoheiHagimoto 0:0e0631af0305 215 class CV_EXPORTS NoBundleAdjuster : public BundleAdjusterBase
RyoheiHagimoto 0:0e0631af0305 216 {
RyoheiHagimoto 0:0e0631af0305 217 public:
RyoheiHagimoto 0:0e0631af0305 218 NoBundleAdjuster() : BundleAdjusterBase(0, 0) {}
RyoheiHagimoto 0:0e0631af0305 219
RyoheiHagimoto 0:0e0631af0305 220 private:
RyoheiHagimoto 0:0e0631af0305 221 bool estimate(const std::vector<ImageFeatures> &, const std::vector<MatchesInfo> &,
RyoheiHagimoto 0:0e0631af0305 222 std::vector<CameraParams> &)
RyoheiHagimoto 0:0e0631af0305 223 {
RyoheiHagimoto 0:0e0631af0305 224 return true;
RyoheiHagimoto 0:0e0631af0305 225 }
RyoheiHagimoto 0:0e0631af0305 226 void setUpInitialCameraParams(const std::vector<CameraParams> &) {}
RyoheiHagimoto 0:0e0631af0305 227 void obtainRefinedCameraParams(std::vector<CameraParams> &) const {}
RyoheiHagimoto 0:0e0631af0305 228 void calcError(Mat &) {}
RyoheiHagimoto 0:0e0631af0305 229 void calcJacobian(Mat &) {}
RyoheiHagimoto 0:0e0631af0305 230 };
RyoheiHagimoto 0:0e0631af0305 231
RyoheiHagimoto 0:0e0631af0305 232
RyoheiHagimoto 0:0e0631af0305 233 /** @brief Implementation of the camera parameters refinement algorithm which minimizes sum of the reprojection
RyoheiHagimoto 0:0e0631af0305 234 error squares
RyoheiHagimoto 0:0e0631af0305 235
RyoheiHagimoto 0:0e0631af0305 236 It can estimate focal length, aspect ratio, principal point.
RyoheiHagimoto 0:0e0631af0305 237 You can affect only on them via the refinement mask.
RyoheiHagimoto 0:0e0631af0305 238 */
RyoheiHagimoto 0:0e0631af0305 239 class CV_EXPORTS BundleAdjusterReproj : public BundleAdjusterBase
RyoheiHagimoto 0:0e0631af0305 240 {
RyoheiHagimoto 0:0e0631af0305 241 public:
RyoheiHagimoto 0:0e0631af0305 242 BundleAdjusterReproj() : BundleAdjusterBase(7, 2) {}
RyoheiHagimoto 0:0e0631af0305 243
RyoheiHagimoto 0:0e0631af0305 244 private:
RyoheiHagimoto 0:0e0631af0305 245 void setUpInitialCameraParams(const std::vector<CameraParams> &cameras);
RyoheiHagimoto 0:0e0631af0305 246 void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const;
RyoheiHagimoto 0:0e0631af0305 247 void calcError(Mat &err);
RyoheiHagimoto 0:0e0631af0305 248 void calcJacobian(Mat &jac);
RyoheiHagimoto 0:0e0631af0305 249
RyoheiHagimoto 0:0e0631af0305 250 Mat err1_, err2_;
RyoheiHagimoto 0:0e0631af0305 251 };
RyoheiHagimoto 0:0e0631af0305 252
RyoheiHagimoto 0:0e0631af0305 253
RyoheiHagimoto 0:0e0631af0305 254 /** @brief Implementation of the camera parameters refinement algorithm which minimizes sum of the distances
RyoheiHagimoto 0:0e0631af0305 255 between the rays passing through the camera center and a feature. :
RyoheiHagimoto 0:0e0631af0305 256
RyoheiHagimoto 0:0e0631af0305 257 It can estimate focal length. It ignores the refinement mask for now.
RyoheiHagimoto 0:0e0631af0305 258 */
RyoheiHagimoto 0:0e0631af0305 259 class CV_EXPORTS BundleAdjusterRay : public BundleAdjusterBase
RyoheiHagimoto 0:0e0631af0305 260 {
RyoheiHagimoto 0:0e0631af0305 261 public:
RyoheiHagimoto 0:0e0631af0305 262 BundleAdjusterRay() : BundleAdjusterBase(4, 3) {}
RyoheiHagimoto 0:0e0631af0305 263
RyoheiHagimoto 0:0e0631af0305 264 private:
RyoheiHagimoto 0:0e0631af0305 265 void setUpInitialCameraParams(const std::vector<CameraParams> &cameras);
RyoheiHagimoto 0:0e0631af0305 266 void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const;
RyoheiHagimoto 0:0e0631af0305 267 void calcError(Mat &err);
RyoheiHagimoto 0:0e0631af0305 268 void calcJacobian(Mat &jac);
RyoheiHagimoto 0:0e0631af0305 269
RyoheiHagimoto 0:0e0631af0305 270 Mat err1_, err2_;
RyoheiHagimoto 0:0e0631af0305 271 };
RyoheiHagimoto 0:0e0631af0305 272
RyoheiHagimoto 0:0e0631af0305 273
RyoheiHagimoto 0:0e0631af0305 274 /** @brief Bundle adjuster that expects affine transformation
RyoheiHagimoto 0:0e0631af0305 275 represented in homogeneous coordinates in R for each camera param. Implements
RyoheiHagimoto 0:0e0631af0305 276 camera parameters refinement algorithm which minimizes sum of the reprojection
RyoheiHagimoto 0:0e0631af0305 277 error squares
RyoheiHagimoto 0:0e0631af0305 278
RyoheiHagimoto 0:0e0631af0305 279 It estimates all transformation parameters. Refinement mask is ignored.
RyoheiHagimoto 0:0e0631af0305 280
RyoheiHagimoto 0:0e0631af0305 281 @sa AffineBasedEstimator AffineBestOf2NearestMatcher BundleAdjusterAffinePartial
RyoheiHagimoto 0:0e0631af0305 282 */
RyoheiHagimoto 0:0e0631af0305 283 class CV_EXPORTS BundleAdjusterAffine : public BundleAdjusterBase
RyoheiHagimoto 0:0e0631af0305 284 {
RyoheiHagimoto 0:0e0631af0305 285 public:
RyoheiHagimoto 0:0e0631af0305 286 BundleAdjusterAffine() : BundleAdjusterBase(6, 2) {}
RyoheiHagimoto 0:0e0631af0305 287
RyoheiHagimoto 0:0e0631af0305 288 private:
RyoheiHagimoto 0:0e0631af0305 289 void setUpInitialCameraParams(const std::vector<CameraParams> &cameras);
RyoheiHagimoto 0:0e0631af0305 290 void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const;
RyoheiHagimoto 0:0e0631af0305 291 void calcError(Mat &err);
RyoheiHagimoto 0:0e0631af0305 292 void calcJacobian(Mat &jac);
RyoheiHagimoto 0:0e0631af0305 293
RyoheiHagimoto 0:0e0631af0305 294 Mat err1_, err2_;
RyoheiHagimoto 0:0e0631af0305 295 };
RyoheiHagimoto 0:0e0631af0305 296
RyoheiHagimoto 0:0e0631af0305 297
RyoheiHagimoto 0:0e0631af0305 298 /** @brief Bundle adjuster that expects affine transformation with 4 DOF
RyoheiHagimoto 0:0e0631af0305 299 represented in homogeneous coordinates in R for each camera param. Implements
RyoheiHagimoto 0:0e0631af0305 300 camera parameters refinement algorithm which minimizes sum of the reprojection
RyoheiHagimoto 0:0e0631af0305 301 error squares
RyoheiHagimoto 0:0e0631af0305 302
RyoheiHagimoto 0:0e0631af0305 303 It estimates all transformation parameters. Refinement mask is ignored.
RyoheiHagimoto 0:0e0631af0305 304
RyoheiHagimoto 0:0e0631af0305 305 @sa AffineBasedEstimator AffineBestOf2NearestMatcher BundleAdjusterAffine
RyoheiHagimoto 0:0e0631af0305 306 */
RyoheiHagimoto 0:0e0631af0305 307 class CV_EXPORTS BundleAdjusterAffinePartial : public BundleAdjusterBase
RyoheiHagimoto 0:0e0631af0305 308 {
RyoheiHagimoto 0:0e0631af0305 309 public:
RyoheiHagimoto 0:0e0631af0305 310 BundleAdjusterAffinePartial() : BundleAdjusterBase(4, 2) {}
RyoheiHagimoto 0:0e0631af0305 311
RyoheiHagimoto 0:0e0631af0305 312 private:
RyoheiHagimoto 0:0e0631af0305 313 void setUpInitialCameraParams(const std::vector<CameraParams> &cameras);
RyoheiHagimoto 0:0e0631af0305 314 void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const;
RyoheiHagimoto 0:0e0631af0305 315 void calcError(Mat &err);
RyoheiHagimoto 0:0e0631af0305 316 void calcJacobian(Mat &jac);
RyoheiHagimoto 0:0e0631af0305 317
RyoheiHagimoto 0:0e0631af0305 318 Mat err1_, err2_;
RyoheiHagimoto 0:0e0631af0305 319 };
RyoheiHagimoto 0:0e0631af0305 320
RyoheiHagimoto 0:0e0631af0305 321
RyoheiHagimoto 0:0e0631af0305 322 enum WaveCorrectKind
RyoheiHagimoto 0:0e0631af0305 323 {
RyoheiHagimoto 0:0e0631af0305 324 WAVE_CORRECT_HORIZ,
RyoheiHagimoto 0:0e0631af0305 325 WAVE_CORRECT_VERT
RyoheiHagimoto 0:0e0631af0305 326 };
RyoheiHagimoto 0:0e0631af0305 327
RyoheiHagimoto 0:0e0631af0305 328 /** @brief Tries to make panorama more horizontal (or vertical).
RyoheiHagimoto 0:0e0631af0305 329
RyoheiHagimoto 0:0e0631af0305 330 @param rmats Camera rotation matrices.
RyoheiHagimoto 0:0e0631af0305 331 @param kind Correction kind, see detail::WaveCorrectKind.
RyoheiHagimoto 0:0e0631af0305 332 */
RyoheiHagimoto 0:0e0631af0305 333 void CV_EXPORTS waveCorrect(std::vector<Mat> &rmats, WaveCorrectKind kind);
RyoheiHagimoto 0:0e0631af0305 334
RyoheiHagimoto 0:0e0631af0305 335
RyoheiHagimoto 0:0e0631af0305 336 //////////////////////////////////////////////////////////////////////////////
RyoheiHagimoto 0:0e0631af0305 337 // Auxiliary functions
RyoheiHagimoto 0:0e0631af0305 338
RyoheiHagimoto 0:0e0631af0305 339 // Returns matches graph representation in DOT language
RyoheiHagimoto 0:0e0631af0305 340 String CV_EXPORTS matchesGraphAsString(std::vector<String> &pathes, std::vector<MatchesInfo> &pairwise_matches,
RyoheiHagimoto 0:0e0631af0305 341 float conf_threshold);
RyoheiHagimoto 0:0e0631af0305 342
RyoheiHagimoto 0:0e0631af0305 343 std::vector<int> CV_EXPORTS leaveBiggestComponent(
RyoheiHagimoto 0:0e0631af0305 344 std::vector<ImageFeatures> &features,
RyoheiHagimoto 0:0e0631af0305 345 std::vector<MatchesInfo> &pairwise_matches,
RyoheiHagimoto 0:0e0631af0305 346 float conf_threshold);
RyoheiHagimoto 0:0e0631af0305 347
RyoheiHagimoto 0:0e0631af0305 348 void CV_EXPORTS findMaxSpanningTree(
RyoheiHagimoto 0:0e0631af0305 349 int num_images, const std::vector<MatchesInfo> &pairwise_matches,
RyoheiHagimoto 0:0e0631af0305 350 Graph &span_tree, std::vector<int> &centers);
RyoheiHagimoto 0:0e0631af0305 351
RyoheiHagimoto 0:0e0631af0305 352 //! @} stitching_rotation
RyoheiHagimoto 0:0e0631af0305 353
RyoheiHagimoto 0:0e0631af0305 354 } // namespace detail
RyoheiHagimoto 0:0e0631af0305 355 } // namespace cv
RyoheiHagimoto 0:0e0631af0305 356
RyoheiHagimoto 0:0e0631af0305 357 #endif // OPENCV_STITCHING_MOTION_ESTIMATORS_HPP