motion_core.hpp

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00042 
00043 #ifndef OPENCV_VIDEOSTAB_MOTION_CORE_HPP
00044 #define OPENCV_VIDEOSTAB_MOTION_CORE_HPP
00045 
00046 #include <cmath>
00047 #include "opencv2/core.hpp"
00048 
00049 namespace cv
00050 {
00051 namespace videostab
00052 {
00053 
00054 //! @addtogroup videostab_motion
00055 //! @{
00056 
00057 /** @brief Describes motion model between two point clouds.
00058  */
00059 enum MotionModel
00060 {
00061     MM_TRANSLATION = 0,
00062     MM_TRANSLATION_AND_SCALE = 1,
00063     MM_ROTATION = 2,
00064     MM_RIGID = 3,
00065     MM_SIMILARITY = 4,
00066     MM_AFFINE = 5,
00067     MM_HOMOGRAPHY = 6,
00068     MM_UNKNOWN = 7
00069 };
00070 
00071 /** @brief Describes RANSAC method parameters.
00072  */
00073 struct CV_EXPORTS RansacParams
00074 {
00075     int size; //!< subset size
00076     float thresh; //!< max error to classify as inlier
00077     float eps; //!< max outliers ratio
00078     float prob; //!< probability of success
00079 
00080     RansacParams() : size(0), thresh(0), eps(0), prob(0) {}
00081     /** @brief Constructor
00082     @param size Subset size.
00083     @param thresh Maximum re-projection error value to classify as inlier.
00084     @param eps Maximum ratio of incorrect correspondences.
00085     @param prob Required success probability.
00086      */
00087     RansacParams(int size, float thresh, float eps, float prob);
00088 
00089     /**
00090     @return Number of iterations that'll be performed by RANSAC method.
00091     */
00092     int niters() const
00093     {
00094         return static_cast<int>(
00095                 std::ceil(std::log(1 - prob) / std::log(1 - std::pow(1 - eps, size))));
00096     }
00097 
00098     /**
00099     @param model Motion model. See cv::videostab::MotionModel.
00100     @return Default RANSAC method parameters for the given motion model.
00101     */
00102     static RansacParams default2dMotion(MotionModel model)
00103     {
00104         CV_Assert(model < MM_UNKNOWN);
00105         if (model == MM_TRANSLATION)
00106             return RansacParams(1, 0.5f, 0.5f, 0.99f);
00107         if (model == MM_TRANSLATION_AND_SCALE)
00108             return RansacParams(2, 0.5f, 0.5f, 0.99f);
00109         if (model == MM_ROTATION)
00110             return RansacParams(1, 0.5f, 0.5f, 0.99f);
00111         if (model == MM_RIGID)
00112             return RansacParams(2, 0.5f, 0.5f, 0.99f);
00113         if (model == MM_SIMILARITY)
00114             return RansacParams(2, 0.5f, 0.5f, 0.99f);
00115         if (model == MM_AFFINE)
00116             return RansacParams(3, 0.5f, 0.5f, 0.99f);
00117         return RansacParams(4, 0.5f, 0.5f, 0.99f);
00118     }
00119 };
00120 
00121 inline RansacParams::RansacParams(int _size, float _thresh, float _eps, float _prob)
00122     : size(_size), thresh(_thresh), eps(_eps), prob(_prob) {}
00123 
00124 //! @}
00125 
00126 } // namespace videostab
00127 } // namespace cv
00128 
00129 #endif