243 lines
7.8 KiB
ReStructuredText
243 lines
7.8 KiB
ReStructuredText
Rotation Estimation
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===================
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.. highlight:: cpp
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detail::Estimator
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-----------------
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.. ocv:class:: detail::Estimator
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Rotation estimator base class. It takes features of all images, pairwise matches between all images and estimates rotations of all cameras.
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.. note:: The coordinate system origin is implementation-dependent, but you can always normalize the rotations in respect to the first camera, for instance.
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::
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class CV_EXPORTS Estimator
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{
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public:
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virtual ~Estimator() {}
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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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{ estimate(features, pairwise_matches, cameras); }
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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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detail::Estimator::operator()
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-----------------------------
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Estimates camera parameters.
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.. ocv:function:: detail::Estimator::operator ()(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches, std::vector<CameraParams> &cameras)
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:param features: Features of images
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:param pairwise_matches: Pairwise matches of images
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:param cameras: Estimated camera parameters
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detail::Estimator::estimate
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---------------------------
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This method must implement camera parameters estimation logic in order to make the wrapper `detail::Estimator::operator()`_ work.
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.. ocv:function:: void detail::Estimator::estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches, std::vector<CameraParams> &cameras)
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:param features: Features of images
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:param pairwise_matches: Pairwise matches of images
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:param cameras: Estimated camera parameters
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detail::HomographyBasedEstimator
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--------------------------------
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.. ocv:class:: detail::HomographyBasedEstimator
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Homography based rotation estimator. ::
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class CV_EXPORTS HomographyBasedEstimator : public Estimator
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{
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public:
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HomographyBasedEstimator(bool is_focals_estimated = false)
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: is_focals_estimated_(is_focals_estimated) {}
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private:
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/* hidden */
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};
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detail::BundleAdjusterBase
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--------------------------
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.. ocv:class:: detail::BundleAdjusterBase
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Base class for all camera parameters refinement methods. ::
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class CV_EXPORTS BundleAdjusterBase : public Estimator
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{
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public:
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const Mat refinementMask() const { return refinement_mask_.clone(); }
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void setRefinementMask(const Mat &mask)
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{
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CV_Assert(mask.type() == CV_8U && mask.size() == Size(3, 3));
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refinement_mask_ = mask.clone();
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}
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double confThresh() const { return conf_thresh_; }
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void setConfThresh(double conf_thresh) { conf_thresh_ = conf_thresh; }
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CvTermCriteria termCriteria() { return term_criteria_; }
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void setTermCriteria(const CvTermCriteria& term_criteria) { term_criteria_ = term_criteria; }
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protected:
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BundleAdjusterBase(int num_params_per_cam, int num_errs_per_measurement)
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: num_params_per_cam_(num_params_per_cam),
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num_errs_per_measurement_(num_errs_per_measurement)
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{
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setRefinementMask(Mat::ones(3, 3, CV_8U));
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setConfThresh(1.);
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setTermCriteria(cvTermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 1000, DBL_EPSILON));
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}
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// Runs bundle adjustment
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virtual void estimate(const std::vector<ImageFeatures> &features,
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const std::vector<MatchesInfo> &pairwise_matches,
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std::vector<CameraParams> &cameras);
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virtual void setUpInitialCameraParams(const std::vector<CameraParams> &cameras) = 0;
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virtual void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const = 0;
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virtual void calcError(Mat &err) = 0;
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virtual void calcJacobian(Mat &jac) = 0;
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// 3x3 8U mask, where 0 means don't refine respective parameter, != 0 means refine
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Mat refinement_mask_;
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int num_images_;
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int total_num_matches_;
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int num_params_per_cam_;
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int num_errs_per_measurement_;
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const ImageFeatures *features_;
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const MatchesInfo *pairwise_matches_;
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// Threshold to filter out poorly matched image pairs
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double conf_thresh_;
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//Levenberg–Marquardt algorithm termination criteria
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CvTermCriteria term_criteria_;
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// Camera parameters matrix (CV_64F)
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Mat cam_params_;
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// Connected images pairs
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std::vector<std::pair<int,int> > edges_;
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};
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.. seealso:: :ocv:class:`detail::Estimator`
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detail::BundleAdjusterBase::BundleAdjusterBase
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----------------------------------------------
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Construct a bundle adjuster base instance.
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.. ocv:function:: detail::BundleAdjusterBase::BundleAdjusterBase(int num_params_per_cam, int num_errs_per_measurement)
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:param num_params_per_cam: Number of parameters per camera
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:param num_errs_per_measurement: Number of error terms (components) per match
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detail::BundleAdjusterBase::setUpInitialCameraParams
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----------------------------------------------------
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Sets initial camera parameter to refine.
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.. ocv:function:: void detail::BundleAdjusterBase::setUpInitialCameraParams(const std::vector<CameraParams> &cameras)
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:param cameras: Camera parameters
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detail::BundleAdjusterBase::calcError
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-------------------------------------
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Calculates error vector.
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.. ocv:function:: void detail::BundleAdjusterBase::calcError(Mat &err)
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:param err: Error column-vector of length ``total_num_matches * num_errs_per_measurement``
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detail::BundleAdjusterBase::calcJacobian
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----------------------------------------
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Calculates the cost function jacobian.
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.. ocv:function:: void detail::BundleAdjusterBase::calcJacobian(Mat &jac)
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:param jac: Jacobian matrix of dimensions ``(total_num_matches * num_errs_per_measurement) x (num_images * num_params_per_cam)``
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detail::BundleAdjusterBase::obtainRefinedCameraParams
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-----------------------------------------------------
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Gets the refined camera parameters.
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.. ocv:function:: void detail::BundleAdjusterBase::obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const
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:param cameras: Refined camera parameters
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detail::BundleAdjusterReproj
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----------------------------
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.. ocv:class:: detail::BundleAdjusterReproj
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Implementation of the camera parameters refinement algorithm which minimizes sum of the reprojection error squares. ::
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class CV_EXPORTS BundleAdjusterReproj : public BundleAdjusterBase
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{
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public:
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BundleAdjusterReproj() : BundleAdjusterBase(7, 2) {}
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private:
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/* hidden */
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};
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.. seealso:: :ocv:class:`detail::BundleAdjusterBase`, :ocv:class:`detail::Estimator`
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detail::BundleAdjusterRay
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-------------------------
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.. ocv:class:: detail::BundleAdjusterRay
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Implementation of the camera parameters refinement algorithm which minimizes sum of the distances between the rays passing through the camera center and a feature. ::
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class CV_EXPORTS BundleAdjusterRay : public BundleAdjusterBase
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{
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public:
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BundleAdjusterRay() : BundleAdjusterBase(4, 3) {}
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private:
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/* hidden */
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};
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.. seealso:: :ocv:class:`detail::BundleAdjusterBase`
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detail::WaveCorrectKind
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-----------------------
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.. ocv:class:: detail::WaveCorrectKind
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Wave correction kind. ::
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enum CV_EXPORTS WaveCorrectKind
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{
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WAVE_CORRECT_HORIZ,
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WAVE_CORRECT_VERT
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};
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detail::waveCorrect
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-------------------
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Tries to make panorama more horizontal (or verical).
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.. ocv:function:: void waveCorrect(std::vector<Mat> &rmats, WaveCorrectKind kind)
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:param rmats: Camera rotation matrices.
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:param kind: Correction kind, see :ocv:class:`detail::WaveCorrectKind`.
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