From a7e7226a028a945869db91f6a47fe5760864d746 Mon Sep 17 00:00:00 2001 From: Alexey Spizhevoy Date: Thu, 26 Jan 2012 11:47:33 +0000 Subject: [PATCH] Updated the stitching module docs --- modules/stitching/doc/matching.rst | 113 ++++++++++++++++-- modules/stitching/doc/motion_estimation.rst | 45 +++++-- .../stitching/detail/motion_estimators.hpp | 2 - 3 files changed, 143 insertions(+), 17 deletions(-) diff --git a/modules/stitching/doc/matching.rst b/modules/stitching/doc/matching.rst index 28bf7b8632..909d40bc85 100644 --- a/modules/stitching/doc/matching.rst +++ b/modules/stitching/doc/matching.rst @@ -35,6 +35,43 @@ Feature finders base class. :: virtual void find(const Mat &image, ImageFeatures &features) = 0; }; +detail::FeaturesFinder::operator() +---------------------------------- + +Finds features in the given image. + +.. ocv:function:: void detail::FeaturesFinder::operator ()(const Mat &image, ImageFeatures &features) + +.. ocv:function:: void detail::FeaturesFinder::operator ()(const Mat &image, ImageFeatures &features, const std::vector &rois) + + :param image: Source image + + :param features: Found features + + :param rois: Regions of interest + +.. seealso:: :ocv:struct:`detail::ImageFeatures`, :ocv:class:`Rect_` + +detail::FeaturesFinder::collectGarbage +-------------------------------------- + +Frees unused memory allocated before if there is any. + +.. ocv:function:: void detail::FeaturesFinder::collectGarbage() + +detail::FeaturesFinder::find +---------------------------- + +This method must implement features finding logic in order to make the wrappers `detail::FeaturesFinder::operator()`_ work. + +.. ocv:function:: void find(const Mat &image, ImageFeatures &features) + + :param image: Source image + + :param features: Found features + +.. seealso:: :ocv:struct:`detail::ImageFeatures` + detail::SurfFeaturesFinder -------------------------- .. ocv:class:: detail::SurfFeaturesFinder @@ -51,9 +88,7 @@ SURF features finder. :: /* hidden */ }; -.. seealso:: - :ocv:class:`detail::FeaturesFinder` - :ocv:class:`SURF` +.. seealso:: :ocv:class:`detail::FeaturesFinder`, :ocv:class:`SURF` detail::OrbFeaturesFinder ------------------------- @@ -71,13 +106,11 @@ ORB features finder. :: /* hidden */ }; -.. seealso:: - :ocv:class:`detail::FeaturesFinder`, - :ocv:class:`ORB` +.. seealso:: :ocv:class:`detail::FeaturesFinder`, :ocv:class:`ORB` detail::MatchesInfo ------------------- -.. ocv:struct: detail::MatchesInfo +.. ocv:struct:: detail::MatchesInfo Structure containing information about matches between two images. It's assumed that there is a homography between those images. :: @@ -110,7 +143,7 @@ Feature matchers base class. :: MatchesInfo& matches_info) { match(features1, features2, matches_info); } void operator ()(const std::vector &features, std::vector &pairwise_matches, - const cv::Mat &mask = cv::Mat()); + const Mat &mask = cv::Mat()); bool isThreadSafe() const { return is_thread_safe_; } @@ -125,6 +158,56 @@ Feature matchers base class. :: bool is_thread_safe_; }; +detail::FeaturesMatcher::operator() +----------------------------------- + +Performs images matching. + +.. ocv:function:: void detail::FeaturesMatcher::operator ()(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info) + + :param features1: First image features + + :param features2: Second image features + + :param matches_info: Found matches + +.. ocv:function:: void detail::FeaturesMatcher::operator ()(const std::vector &features, std::vector &pairwise_matches, const Mat &mask) + + :param features: Features of the source images + + :param pairwise_matches: Found pairwise matches + + :param mask: Mask indicating which image pairs must be matched + +.. seealso:: :ocv:struct:`detail::MatchesInfo` + +detail::FeaturesMatcher::isThreadSafe +------------------------------------- + +.. ocv:function:: bool detail::FeaturesMatcher::isThreadSafe() const + + :return: True, if it's possible to use the same matcher instance in parallel, false otherwise + +detail::FeaturesMatcher::collectGarbage +--------------------------------------- + +Frees unused memory allocated before if there is any. + +.. ocv:function:: void detail::FeaturesMatcher::collectGarbage() + +detail::FeaturesMatcher::match +------------------------------ + +This method must implement matching logic in order to make the wrappers `detail::FeaturesMatcher::operator()`_ work. + +.. ocv:function:: void detail::FeaturesMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info) + + :param features1: First image features + + :param features2: Second image features + + :param matches_info: Found matches + detail::BestOf2NearestMatcher ----------------------------- .. ocv:class:: detail::BestOf2NearestMatcher @@ -149,3 +232,17 @@ Features matcher which finds two best matches for each feature and leaves the be .. seealso:: :ocv:class:`detail::FeaturesMatcher` +detail::BestOf2NearestMatcher::BestOf2NearestMatcher +---------------------------------------------------- + +Constructs a "best of 2 nearest" matcher. + +.. ocv:function:: detail::BestOf2NearestMatcher::BestOf2NearestMatcher(bool try_use_gpu = false, float match_conf = 0.65f, int num_matches_thresh1 = 6, int num_matches_thresh2 = 6) + + :param try_use_gpu: Should try to use GPU or not + + :param match_conf: Match distances ration threshold + + :param num_matches_thresh1: Minimum number of matches required for the 2D projective transform estimation used in the inliers classification step + + :param num_matches_thresh1: Minimum number of matches required for the 2D projective transform re-estimation on inliers diff --git a/modules/stitching/doc/motion_estimation.rst b/modules/stitching/doc/motion_estimation.rst index b3c7f887cd..cb0d5f3172 100644 --- a/modules/stitching/doc/motion_estimation.rst +++ b/modules/stitching/doc/motion_estimation.rst @@ -27,6 +27,32 @@ Rotation estimator base class. It takes features of all images, pairwise matches std::vector &cameras) = 0; }; +detail::Estimator::operator() +----------------------------- + +Estimates camera parameters. + +.. ocv:function:: detail::Estimator::operator ()(const std::vector &features, const std::vector &pairwise_matches, std::vector &cameras) + + :param features: Features of images + + :param pairwise_matches: Pairwise matches of images + + :param cameras: Estimated camera parameters + +detail::Estimator::estimate +--------------------------- + +This method must implement camera parameters estimation logic in order to make the wrapper `detail::Estimator::operator()`_ work. + +.. ocv:function:: void detail::Estimator::estimate(const std::vector &features, const std::vector &pairwise_matches, std::vector &cameras) + + :param features: Features of images + + :param pairwise_matches: Pairwise matches of images + + :param cameras: Estimated camera parameters + detail::HomographyBasedEstimator -------------------------------- .. ocv:class:: detail::HomographyBasedEstimator @@ -39,13 +65,8 @@ Homography based rotation estimator. :: HomographyBasedEstimator(bool is_focals_estimated = false) : is_focals_estimated_(is_focals_estimated) {} - bool isFocalsEstimated() const { return is_focals_estimated_; } - - private: - void estimate(const std::vector &features, const std::vector &pairwise_matches, - std::vector &cameras); - - bool is_focals_estimated_; + private: + /* hidden */ }; detail::BundleAdjusterBase @@ -115,6 +136,16 @@ Base class for all camera parameters refinement methods. :: std::vector > edges_; }; +detail::BundleAdjusterBase::BundleAdjusterBase +---------------------------------------------- + +Construct a bundle adjuster base instance. + +.. ocv:function:: detail::BundleAdjusterBase::BundleAdjusterBase(int num_params_per_cam, int num_errs_per_measurement) + + :param num_params_per_cam: Number of parameters per camera + + :param num_errs_per_measurement: Number of error terms (components) per match detail::BundleAdjusterReproj ---------------------------- diff --git a/modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp b/modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp index 02812cd913..a54792fd2c 100644 --- a/modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp +++ b/modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp @@ -72,8 +72,6 @@ public: HomographyBasedEstimator(bool is_focals_estimated = false) : is_focals_estimated_(is_focals_estimated) {} - bool isFocalsEstimated() const { return is_focals_estimated_; } - private: void estimate(const std::vector &features, const std::vector &pairwise_matches, std::vector &cameras);