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136 lines
5.0 KiB
C++
136 lines
5.0 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_MOTION_ESTIMATORS_HPP__
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#define __OPENCV_MOTION_ESTIMATORS_HPP__
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#include "precomp.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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// Returns matches graph representation in DOT language
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std::string matchesGraphAsString(std::vector<std::string> &pathes, std::vector<MatchesInfo> &pairwise_matches,
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float conf_threshold);
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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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