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92 lines
2.6 KiB
C++
92 lines
2.6 KiB
C++
#ifndef __OPENCV_MOTION_ESTIMATORS_HPP__
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#define __OPENCV_MOTION_ESTIMATORS_HPP__
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#include <vector>
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#include <opencv2/core/core.hpp>
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#include "matchers.hpp"
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#include "util.hpp"
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struct CameraParams
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{
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CameraParams();
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CameraParams(const CameraParams& other);
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const CameraParams& operator =(const CameraParams& other);
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double focal; // Focal length
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cv::Mat R; // Rotation
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cv::Mat t; // Translation
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};
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class Estimator
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{
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public:
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void operator ()(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches,
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std::vector<CameraParams> &cameras)
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{
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estimate(features, pairwise_matches, cameras);
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}
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protected:
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virtual void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches,
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std::vector<CameraParams> &cameras) = 0;
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};
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class HomographyBasedEstimator : public Estimator
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{
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public:
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HomographyBasedEstimator() : is_focals_estimated_(false) {}
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bool isFocalsEstimated() const { return is_focals_estimated_; }
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private:
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void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches,
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std::vector<CameraParams> &cameras);
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bool is_focals_estimated_;
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};
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class BundleAdjuster : public Estimator
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{
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public:
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enum { RAY_SPACE, FOCAL_RAY_SPACE };
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BundleAdjuster(int cost_space = FOCAL_RAY_SPACE, float conf_thresh = 1.f)
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: cost_space_(cost_space), conf_thresh_(conf_thresh) {}
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private:
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void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches,
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std::vector<CameraParams> &cameras);
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void calcError(cv::Mat &err);
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void calcJacobian();
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int num_images_;
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int total_num_matches_;
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const ImageFeatures *features_;
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const MatchesInfo *pairwise_matches_;
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cv::Mat cameras_;
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std::vector<std::pair<int,int> > edges_;
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int cost_space_;
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float conf_thresh_;
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cv::Mat err_, err1_, err2_;
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cv::Mat J_;
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};
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void waveCorrect(std::vector<cv::Mat> &rmats);
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//////////////////////////////////////////////////////////////////////////////
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// Auxiliary functions
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std::vector<int> leaveBiggestComponent(std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches,
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float conf_threshold);
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void findMaxSpanningTree(int num_images, const std::vector<MatchesInfo> &pairwise_matches,
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Graph &span_tree, std::vector<int> ¢ers);
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#endif // __OPENCV_MOTION_ESTIMATORS_HPP__
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