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