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Open Source Computer Vision Library
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240 lines
7.9 KiB
240 lines
7.9 KiB
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 : public detail::Estimator |
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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 : public detail::Estimator |
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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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.. ocv:class:: detail::BundleAdjusterReproj : public detail::BundleAdjusterBase |
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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 : public detail::BundleAdjusterBase |
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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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Wave correction kind. |
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.. ocv:enum:: detail::WaveCorrectKind |
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.. ocv:emember:: WAVE_CORRECT_HORIZ |
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.. ocv:emember:: WAVE_CORRECT_VERT |
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detail::waveCorrect |
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------------------- |
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Tries to make panorama more horizontal (or vertical). |
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.. ocv:function:: void detail::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:enum:`detail::WaveCorrectKind`.
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