Joe Verbout / Mbed 2 deprecated main

opencv on mbed

Dependencies:   mbed

opencv2/videostab/motion_core.hpp@0:ea44dc9ed014, 2016-03-31 (annotated)

Committer:
joeverbout
Date:
Thu Mar 31 21:16:38 2016 +0000
Revision:
0:ea44dc9ed014
OpenCV on mbed attempt

Who changed what in which revision?

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joeverbout 0:ea44dc9ed014 1 /*M///////////////////////////////////////////////////////////////////////////////////////
joeverbout 0:ea44dc9ed014 2 //
joeverbout 0:ea44dc9ed014 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
joeverbout 0:ea44dc9ed014 4 //
joeverbout 0:ea44dc9ed014 5 // By downloading, copying, installing or using the software you agree to this license.
joeverbout 0:ea44dc9ed014 6 // If you do not agree to this license, do not download, install,
joeverbout 0:ea44dc9ed014 7 // copy or use the software.
joeverbout 0:ea44dc9ed014 8 //
joeverbout 0:ea44dc9ed014 9 //
joeverbout 0:ea44dc9ed014 10 // License Agreement
joeverbout 0:ea44dc9ed014 11 // For Open Source Computer Vision Library
joeverbout 0:ea44dc9ed014 12 //
joeverbout 0:ea44dc9ed014 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
joeverbout 0:ea44dc9ed014 14 // Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
joeverbout 0:ea44dc9ed014 15 // Third party copyrights are property of their respective owners.
joeverbout 0:ea44dc9ed014 16 //
joeverbout 0:ea44dc9ed014 17 // Redistribution and use in source and binary forms, with or without modification,
joeverbout 0:ea44dc9ed014 18 // are permitted provided that the following conditions are met:
joeverbout 0:ea44dc9ed014 19 //
joeverbout 0:ea44dc9ed014 20 // * Redistribution's of source code must retain the above copyright notice,
joeverbout 0:ea44dc9ed014 21 // this list of conditions and the following disclaimer.
joeverbout 0:ea44dc9ed014 22 //
joeverbout 0:ea44dc9ed014 23 // * Redistribution's in binary form must reproduce the above copyright notice,
joeverbout 0:ea44dc9ed014 24 // this list of conditions and the following disclaimer in the documentation
joeverbout 0:ea44dc9ed014 25 // and/or other materials provided with the distribution.
joeverbout 0:ea44dc9ed014 26 //
joeverbout 0:ea44dc9ed014 27 // * The name of the copyright holders may not be used to endorse or promote products
joeverbout 0:ea44dc9ed014 28 // derived from this software without specific prior written permission.
joeverbout 0:ea44dc9ed014 29 //
joeverbout 0:ea44dc9ed014 30 // This software is provided by the copyright holders and contributors "as is" and
joeverbout 0:ea44dc9ed014 31 // any express or implied warranties, including, but not limited to, the implied
joeverbout 0:ea44dc9ed014 32 // warranties of merchantability and fitness for a particular purpose are disclaimed.
joeverbout 0:ea44dc9ed014 33 // In no event shall the Intel Corporation or contributors be liable for any direct,
joeverbout 0:ea44dc9ed014 34 // indirect, incidental, special, exemplary, or consequential damages
joeverbout 0:ea44dc9ed014 35 // (including, but not limited to, procurement of substitute goods or services;
joeverbout 0:ea44dc9ed014 36 // loss of use, data, or profits; or business interruption) however caused
joeverbout 0:ea44dc9ed014 37 // and on any theory of liability, whether in contract, strict liability,
joeverbout 0:ea44dc9ed014 38 // or tort (including negligence or otherwise) arising in any way out of
joeverbout 0:ea44dc9ed014 39 // the use of this software, even if advised of the possibility of such damage.
joeverbout 0:ea44dc9ed014 40 //
joeverbout 0:ea44dc9ed014 41 //M*/
joeverbout 0:ea44dc9ed014 42
joeverbout 0:ea44dc9ed014 43 #ifndef __OPENCV_VIDEOSTAB_MOTION_CORE_HPP__
joeverbout 0:ea44dc9ed014 44 #define __OPENCV_VIDEOSTAB_MOTION_CORE_HPP__
joeverbout 0:ea44dc9ed014 45
joeverbout 0:ea44dc9ed014 46 #include <cmath>
joeverbout 0:ea44dc9ed014 47 #include "opencv2/core.hpp"
joeverbout 0:ea44dc9ed014 48
joeverbout 0:ea44dc9ed014 49 namespace cv
joeverbout 0:ea44dc9ed014 50 {
joeverbout 0:ea44dc9ed014 51 namespace videostab
joeverbout 0:ea44dc9ed014 52 {
joeverbout 0:ea44dc9ed014 53
joeverbout 0:ea44dc9ed014 54 //! @addtogroup videostab_motion
joeverbout 0:ea44dc9ed014 55 //! @{
joeverbout 0:ea44dc9ed014 56
joeverbout 0:ea44dc9ed014 57 /** @brief Describes motion model between two point clouds.
joeverbout 0:ea44dc9ed014 58 */
joeverbout 0:ea44dc9ed014 59 enum MotionModel
joeverbout 0:ea44dc9ed014 60 {
joeverbout 0:ea44dc9ed014 61 MM_TRANSLATION = 0,
joeverbout 0:ea44dc9ed014 62 MM_TRANSLATION_AND_SCALE = 1,
joeverbout 0:ea44dc9ed014 63 MM_ROTATION = 2,
joeverbout 0:ea44dc9ed014 64 MM_RIGID = 3,
joeverbout 0:ea44dc9ed014 65 MM_SIMILARITY = 4,
joeverbout 0:ea44dc9ed014 66 MM_AFFINE = 5,
joeverbout 0:ea44dc9ed014 67 MM_HOMOGRAPHY = 6,
joeverbout 0:ea44dc9ed014 68 MM_UNKNOWN = 7
joeverbout 0:ea44dc9ed014 69 };
joeverbout 0:ea44dc9ed014 70
joeverbout 0:ea44dc9ed014 71 /** @brief Describes RANSAC method parameters.
joeverbout 0:ea44dc9ed014 72 */
joeverbout 0:ea44dc9ed014 73 struct CV_EXPORTS RansacParams
joeverbout 0:ea44dc9ed014 74 {
joeverbout 0:ea44dc9ed014 75 int size; //!< subset size
joeverbout 0:ea44dc9ed014 76 float thresh; //!< max error to classify as inlier
joeverbout 0:ea44dc9ed014 77 float eps; //!< max outliers ratio
joeverbout 0:ea44dc9ed014 78 float prob; //!< probability of success
joeverbout 0:ea44dc9ed014 79
joeverbout 0:ea44dc9ed014 80 RansacParams() : size(0), thresh(0), eps(0), prob(0) {}
joeverbout 0:ea44dc9ed014 81 /** @brief Constructor
joeverbout 0:ea44dc9ed014 82 @param size Subset size.
joeverbout 0:ea44dc9ed014 83 @param thresh Maximum re-projection error value to classify as inlier.
joeverbout 0:ea44dc9ed014 84 @param eps Maximum ratio of incorrect correspondences.
joeverbout 0:ea44dc9ed014 85 @param prob Required success probability.
joeverbout 0:ea44dc9ed014 86 */
joeverbout 0:ea44dc9ed014 87 RansacParams(int size, float thresh, float eps, float prob);
joeverbout 0:ea44dc9ed014 88
joeverbout 0:ea44dc9ed014 89 /**
joeverbout 0:ea44dc9ed014 90 @return Number of iterations that'll be performed by RANSAC method.
joeverbout 0:ea44dc9ed014 91 */
joeverbout 0:ea44dc9ed014 92 int niters() const
joeverbout 0:ea44dc9ed014 93 {
joeverbout 0:ea44dc9ed014 94 return static_cast<int>(
joeverbout 0:ea44dc9ed014 95 std::ceil(std::log(1 - prob) / std::log(1 - std::pow(1 - eps, size))));
joeverbout 0:ea44dc9ed014 96 }
joeverbout 0:ea44dc9ed014 97
joeverbout 0:ea44dc9ed014 98 /**
joeverbout 0:ea44dc9ed014 99 @param model Motion model. See cv::videostab::MotionModel.
joeverbout 0:ea44dc9ed014 100 @return Default RANSAC method parameters for the given motion model.
joeverbout 0:ea44dc9ed014 101 */
joeverbout 0:ea44dc9ed014 102 static RansacParams default2dMotion(MotionModel model)
joeverbout 0:ea44dc9ed014 103 {
joeverbout 0:ea44dc9ed014 104 CV_Assert(model < MM_UNKNOWN);
joeverbout 0:ea44dc9ed014 105 if (model == MM_TRANSLATION)
joeverbout 0:ea44dc9ed014 106 return RansacParams(1, 0.5f, 0.5f, 0.99f);
joeverbout 0:ea44dc9ed014 107 if (model == MM_TRANSLATION_AND_SCALE)
joeverbout 0:ea44dc9ed014 108 return RansacParams(2, 0.5f, 0.5f, 0.99f);
joeverbout 0:ea44dc9ed014 109 if (model == MM_ROTATION)
joeverbout 0:ea44dc9ed014 110 return RansacParams(1, 0.5f, 0.5f, 0.99f);
joeverbout 0:ea44dc9ed014 111 if (model == MM_RIGID)
joeverbout 0:ea44dc9ed014 112 return RansacParams(2, 0.5f, 0.5f, 0.99f);
joeverbout 0:ea44dc9ed014 113 if (model == MM_SIMILARITY)
joeverbout 0:ea44dc9ed014 114 return RansacParams(2, 0.5f, 0.5f, 0.99f);
joeverbout 0:ea44dc9ed014 115 if (model == MM_AFFINE)
joeverbout 0:ea44dc9ed014 116 return RansacParams(3, 0.5f, 0.5f, 0.99f);
joeverbout 0:ea44dc9ed014 117 return RansacParams(4, 0.5f, 0.5f, 0.99f);
joeverbout 0:ea44dc9ed014 118 }
joeverbout 0:ea44dc9ed014 119 };
joeverbout 0:ea44dc9ed014 120
joeverbout 0:ea44dc9ed014 121 inline RansacParams::RansacParams(int _size, float _thresh, float _eps, float _prob)
joeverbout 0:ea44dc9ed014 122 : size(_size), thresh(_thresh), eps(_eps), prob(_prob) {}
joeverbout 0:ea44dc9ed014 123
joeverbout 0:ea44dc9ed014 124 //! @}
joeverbout 0:ea44dc9ed014 125
joeverbout 0:ea44dc9ed014 126 } // namespace videostab
joeverbout 0:ea44dc9ed014 127 } // namespace cv
joeverbout 0:ea44dc9ed014 128
joeverbout 0:ea44dc9ed014 129 #endif
joeverbout 0:ea44dc9ed014 130