added saving of matches graph into opencv_stitching (in DOT format)

2011-08-15 08:19:57 +00:00
parent 7820c343eb
commit f95e71ea3a
5 changed files with 282 additions and 191 deletions
--- a/modules/stitching/motion_estimators.hpp
+++ b/modules/stitching/motion_estimators.hpp
@@ -38,94 +38,98 @@
 // or tort (including negligence or otherwise) arising in any way out of
 // the use of this software, even if advised of the possibility of such damage.
 //
-//M*/
-#ifndef __OPENCV_MOTION_ESTIMATORS_HPP__
-#define __OPENCV_MOTION_ESTIMATORS_HPP__
-
-#include "precomp.hpp"
-#include "matchers.hpp"
-#include "util.hpp"
-
-struct CameraParams
-{
-    CameraParams();
-    CameraParams(const CameraParams& other);
-    const CameraParams& operator =(const CameraParams& other);
-
-    double focal; // Focal length
-    cv::Mat R; // Rotation
-    cv::Mat t; // Translation
-};
-
-
-class Estimator
-{
-public:
-    void operator ()(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches, 
-                     std::vector<CameraParams> &cameras)
-    {
-        estimate(features, pairwise_matches, cameras);
-    }
-
-protected:
-    virtual void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches, 
-                          std::vector<CameraParams> &cameras) = 0;
-};
-
-
-class HomographyBasedEstimator : public Estimator
-{
-public:
-    HomographyBasedEstimator() : is_focals_estimated_(false) {}
-    bool isFocalsEstimated() const { return is_focals_estimated_; }
-
-private:   
-    void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches, 
-                  std::vector<CameraParams> &cameras);
-
-    bool is_focals_estimated_;
-};
-
-
-class BundleAdjuster : public Estimator
-{
-public:
-    enum { RAY_SPACE, FOCAL_RAY_SPACE };
-
-    BundleAdjuster(int cost_space = FOCAL_RAY_SPACE, float conf_thresh = 1.f) 
-        : cost_space_(cost_space), conf_thresh_(conf_thresh) {}
-
-private:
-    void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches, 
-                  std::vector<CameraParams> &cameras);
-
-    void calcError(cv::Mat &err);
-    void calcJacobian();
-
-    int num_images_;
-    int total_num_matches_;
-    const ImageFeatures *features_;
-    const MatchesInfo *pairwise_matches_;
-    cv::Mat cameras_;
-    std::vector<std::pair<int,int> > edges_;
-
-    int cost_space_;
-    float conf_thresh_;
-    cv::Mat err_, err1_, err2_;
-    cv::Mat J_;
-};
-
-
-void waveCorrect(std::vector<cv::Mat> &rmats);
-
-
-//////////////////////////////////////////////////////////////////////////////
-// Auxiliary functions
-
-std::vector<int> leaveBiggestComponent(std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches, 
-                                       float conf_threshold);
-
-void findMaxSpanningTree(int num_images, const std::vector<MatchesInfo> &pairwise_matches, 
-                         Graph &span_tree, std::vector<int> &centers);
-
-#endif // __OPENCV_MOTION_ESTIMATORS_HPP__
+//M*/
+#ifndef __OPENCV_MOTION_ESTIMATORS_HPP__
+#define __OPENCV_MOTION_ESTIMATORS_HPP__
+
+#include "precomp.hpp"
+#include "matchers.hpp"
+#include "util.hpp"
+
+struct CameraParams
+{
+    CameraParams();
+    CameraParams(const CameraParams& other);
+    const CameraParams& operator =(const CameraParams& other);
+
+    double focal; // Focal length
+    cv::Mat R; // Rotation
+    cv::Mat t; // Translation
+};
+
+
+class Estimator
+{
+public:
+    void operator ()(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches, 
+                     std::vector<CameraParams> &cameras)
+    {
+        estimate(features, pairwise_matches, cameras);
+    }
+
+protected:
+    virtual void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches, 
+                          std::vector<CameraParams> &cameras) = 0;
+};
+
+
+class HomographyBasedEstimator : public Estimator
+{
+public:
+    HomographyBasedEstimator() : is_focals_estimated_(false) {}
+    bool isFocalsEstimated() const { return is_focals_estimated_; }
+
+private:   
+    void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches, 
+                  std::vector<CameraParams> &cameras);
+
+    bool is_focals_estimated_;
+};
+
+
+class BundleAdjuster : public Estimator
+{
+public:
+    enum { RAY_SPACE, FOCAL_RAY_SPACE };
+
+    BundleAdjuster(int cost_space = FOCAL_RAY_SPACE, float conf_thresh = 1.f) 
+        : cost_space_(cost_space), conf_thresh_(conf_thresh) {}
+
+private:
+    void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches, 
+                  std::vector<CameraParams> &cameras);
+
+    void calcError(cv::Mat &err);
+    void calcJacobian();
+
+    int num_images_;
+    int total_num_matches_;
+    const ImageFeatures *features_;
+    const MatchesInfo *pairwise_matches_;
+    cv::Mat cameras_;
+    std::vector<std::pair<int,int> > edges_;
+
+    int cost_space_;
+    float conf_thresh_;
+    cv::Mat err_, err1_, err2_;
+    cv::Mat J_;
+};
+
+
+void waveCorrect(std::vector<cv::Mat> &rmats);
+
+
+//////////////////////////////////////////////////////////////////////////////
+// Auxiliary functions
+
+// Returns matches graph representation in DOT language
+std::string matchesGraphAsString(std::vector<std::string> &pathes, std::vector<MatchesInfo> &pairwise_matches,
+                                 float conf_threshold);
+
+std::vector<int> leaveBiggestComponent(std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches, 
+                                       float conf_threshold);
+
+void findMaxSpanningTree(int num_images, const std::vector<MatchesInfo> &pairwise_matches, 
+                         Graph &span_tree, std::vector<int> &centers);
+
+#endif // __OPENCV_MOTION_ESTIMATORS_HPP__