opencv/modules/stitching/motion_estimators.hpp
2011-05-06 08:05:02 +00:00

89 lines
2.5 KiB
C++

#ifndef __OPENCV_MOTION_ESTIMATORS_HPP__
#define __OPENCV_MOTION_ESTIMATORS_HPP__
#include <vector>
#include <opencv2/core/core.hpp>
#include "matchers.hpp"
#include "util.hpp"
struct CameraParams
{
CameraParams();
CameraParams(const CameraParams& other);
const CameraParams& operator =(const CameraParams& other);
double focal;
cv::Mat M, t;
};
class Estimator
{
public:
void operator ()(const std::vector<cv::Mat> &images, const std::vector<ImageFeatures> &features,
const std::vector<MatchesInfo> &pairwise_matches, std::vector<CameraParams> &cameras)
{
estimate(images, features, pairwise_matches, cameras);
}
protected:
virtual void estimate(const std::vector<cv::Mat> &images, 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<cv::Mat> &images, 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 dist_thresh = 1.f)
: cost_space_(cost_space), dist_thresh_(dist_thresh) {}
private:
void estimate(const std::vector<cv::Mat> &images, 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 cv::Mat *images_;
const ImageFeatures *features_;
const MatchesInfo *pairwise_matches_;
cv::Mat cameras_;
std::vector<std::pair<int,int> > edges_;
int cost_space_;
float dist_thresh_;
cv::Mat err_, err1_, err2_;
cv::Mat J_;
};
void waveCorrect(std::vector<cv::Mat> &rmats);
//////////////////////////////////////////////////////////////////////////////
// Auxiliary functions
void findMaxSpanningTree(int num_images, const std::vector<MatchesInfo> &pairwise_matches,
Graph &span_tree, std::vector<int> &centers);
#endif // __OPENCV_MOTION_ESTIMATORS_HPP__