Renesas / opencv-lib

openCV library for Renesas RZ/A

Dependents:   RZ_A2M_Mbed_samples

include/opencv2/videostab/motion_core.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) 2009-2011, 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_VIDEOSTAB_MOTION_CORE_HPP
RyoheiHagimoto 0:0e0631af0305 44 #define OPENCV_VIDEOSTAB_MOTION_CORE_HPP
RyoheiHagimoto 0:0e0631af0305 45
RyoheiHagimoto 0:0e0631af0305 46 #include <cmath>
RyoheiHagimoto 0:0e0631af0305 47 #include "opencv2/core.hpp"
RyoheiHagimoto 0:0e0631af0305 48
RyoheiHagimoto 0:0e0631af0305 49 namespace cv
RyoheiHagimoto 0:0e0631af0305 50 {
RyoheiHagimoto 0:0e0631af0305 51 namespace videostab
RyoheiHagimoto 0:0e0631af0305 52 {
RyoheiHagimoto 0:0e0631af0305 53
RyoheiHagimoto 0:0e0631af0305 54 //! @addtogroup videostab_motion
RyoheiHagimoto 0:0e0631af0305 55 //! @{
RyoheiHagimoto 0:0e0631af0305 56
RyoheiHagimoto 0:0e0631af0305 57 /** @brief Describes motion model between two point clouds.
RyoheiHagimoto 0:0e0631af0305 58 */
RyoheiHagimoto 0:0e0631af0305 59 enum MotionModel
RyoheiHagimoto 0:0e0631af0305 60 {
RyoheiHagimoto 0:0e0631af0305 61 MM_TRANSLATION = 0,
RyoheiHagimoto 0:0e0631af0305 62 MM_TRANSLATION_AND_SCALE = 1,
RyoheiHagimoto 0:0e0631af0305 63 MM_ROTATION = 2,
RyoheiHagimoto 0:0e0631af0305 64 MM_RIGID = 3,
RyoheiHagimoto 0:0e0631af0305 65 MM_SIMILARITY = 4,
RyoheiHagimoto 0:0e0631af0305 66 MM_AFFINE = 5,
RyoheiHagimoto 0:0e0631af0305 67 MM_HOMOGRAPHY = 6,
RyoheiHagimoto 0:0e0631af0305 68 MM_UNKNOWN = 7
RyoheiHagimoto 0:0e0631af0305 69 };
RyoheiHagimoto 0:0e0631af0305 70
RyoheiHagimoto 0:0e0631af0305 71 /** @brief Describes RANSAC method parameters.
RyoheiHagimoto 0:0e0631af0305 72 */
RyoheiHagimoto 0:0e0631af0305 73 struct CV_EXPORTS RansacParams
RyoheiHagimoto 0:0e0631af0305 74 {
RyoheiHagimoto 0:0e0631af0305 75 int size; //!< subset size
RyoheiHagimoto 0:0e0631af0305 76 float thresh; //!< max error to classify as inlier
RyoheiHagimoto 0:0e0631af0305 77 float eps; //!< max outliers ratio
RyoheiHagimoto 0:0e0631af0305 78 float prob; //!< probability of success
RyoheiHagimoto 0:0e0631af0305 79
RyoheiHagimoto 0:0e0631af0305 80 RansacParams() : size(0), thresh(0), eps(0), prob(0) {}
RyoheiHagimoto 0:0e0631af0305 81 /** @brief Constructor
RyoheiHagimoto 0:0e0631af0305 82 @param size Subset size.
RyoheiHagimoto 0:0e0631af0305 83 @param thresh Maximum re-projection error value to classify as inlier.
RyoheiHagimoto 0:0e0631af0305 84 @param eps Maximum ratio of incorrect correspondences.
RyoheiHagimoto 0:0e0631af0305 85 @param prob Required success probability.
RyoheiHagimoto 0:0e0631af0305 86 */
RyoheiHagimoto 0:0e0631af0305 87 RansacParams(int size, float thresh, float eps, float prob);
RyoheiHagimoto 0:0e0631af0305 88
RyoheiHagimoto 0:0e0631af0305 89 /**
RyoheiHagimoto 0:0e0631af0305 90 @return Number of iterations that'll be performed by RANSAC method.
RyoheiHagimoto 0:0e0631af0305 91 */
RyoheiHagimoto 0:0e0631af0305 92 int niters() const
RyoheiHagimoto 0:0e0631af0305 93 {
RyoheiHagimoto 0:0e0631af0305 94 return static_cast<int>(
RyoheiHagimoto 0:0e0631af0305 95 std::ceil(std::log(1 - prob) / std::log(1 - std::pow(1 - eps, size))));
RyoheiHagimoto 0:0e0631af0305 96 }
RyoheiHagimoto 0:0e0631af0305 97
RyoheiHagimoto 0:0e0631af0305 98 /**
RyoheiHagimoto 0:0e0631af0305 99 @param model Motion model. See cv::videostab::MotionModel.
RyoheiHagimoto 0:0e0631af0305 100 @return Default RANSAC method parameters for the given motion model.
RyoheiHagimoto 0:0e0631af0305 101 */
RyoheiHagimoto 0:0e0631af0305 102 static RansacParams default2dMotion(MotionModel model)
RyoheiHagimoto 0:0e0631af0305 103 {
RyoheiHagimoto 0:0e0631af0305 104 CV_Assert(model < MM_UNKNOWN);
RyoheiHagimoto 0:0e0631af0305 105 if (model == MM_TRANSLATION)
RyoheiHagimoto 0:0e0631af0305 106 return RansacParams(1, 0.5f, 0.5f, 0.99f);
RyoheiHagimoto 0:0e0631af0305 107 if (model == MM_TRANSLATION_AND_SCALE)
RyoheiHagimoto 0:0e0631af0305 108 return RansacParams(2, 0.5f, 0.5f, 0.99f);
RyoheiHagimoto 0:0e0631af0305 109 if (model == MM_ROTATION)
RyoheiHagimoto 0:0e0631af0305 110 return RansacParams(1, 0.5f, 0.5f, 0.99f);
RyoheiHagimoto 0:0e0631af0305 111 if (model == MM_RIGID)
RyoheiHagimoto 0:0e0631af0305 112 return RansacParams(2, 0.5f, 0.5f, 0.99f);
RyoheiHagimoto 0:0e0631af0305 113 if (model == MM_SIMILARITY)
RyoheiHagimoto 0:0e0631af0305 114 return RansacParams(2, 0.5f, 0.5f, 0.99f);
RyoheiHagimoto 0:0e0631af0305 115 if (model == MM_AFFINE)
RyoheiHagimoto 0:0e0631af0305 116 return RansacParams(3, 0.5f, 0.5f, 0.99f);
RyoheiHagimoto 0:0e0631af0305 117 return RansacParams(4, 0.5f, 0.5f, 0.99f);
RyoheiHagimoto 0:0e0631af0305 118 }
RyoheiHagimoto 0:0e0631af0305 119 };
RyoheiHagimoto 0:0e0631af0305 120
RyoheiHagimoto 0:0e0631af0305 121 inline RansacParams::RansacParams(int _size, float _thresh, float _eps, float _prob)
RyoheiHagimoto 0:0e0631af0305 122 : size(_size), thresh(_thresh), eps(_eps), prob(_prob) {}
RyoheiHagimoto 0:0e0631af0305 123
RyoheiHagimoto 0:0e0631af0305 124 //! @}
RyoheiHagimoto 0:0e0631af0305 125
RyoheiHagimoto 0:0e0631af0305 126 } // namespace videostab
RyoheiHagimoto 0:0e0631af0305 127 } // namespace cv
RyoheiHagimoto 0:0e0631af0305 128
RyoheiHagimoto 0:0e0631af0305 129 #endif