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88 lines
2.5 KiB
88 lines
2.5 KiB
#ifndef __OPENCV_MOTION_ESTIMATORS_HPP__ |
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#define __OPENCV_MOTION_ESTIMATORS_HPP__ |
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#include <vector> |
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#include <opencv2/core/core.hpp> |
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#include "matchers.hpp" |
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#include "util.hpp" |
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struct CameraParams |
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{ |
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CameraParams(); |
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CameraParams(const CameraParams& other); |
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const CameraParams& operator =(const CameraParams& other); |
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double focal; |
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cv::Mat M, t; |
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}; |
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class Estimator |
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{ |
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public: |
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void operator ()(const std::vector<cv::Mat> &images, const std::vector<ImageFeatures> &features, |
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const std::vector<MatchesInfo> &pairwise_matches, std::vector<CameraParams> &cameras) |
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{ |
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estimate(images, features, pairwise_matches, cameras); |
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} |
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protected: |
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virtual void estimate(const std::vector<cv::Mat> &images, const std::vector<ImageFeatures> &features, |
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const std::vector<MatchesInfo> &pairwise_matches, std::vector<CameraParams> &cameras) = 0; |
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}; |
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class HomographyBasedEstimator : public Estimator |
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{ |
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public: |
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HomographyBasedEstimator() : is_focals_estimated_(false) {} |
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bool isFocalsEstimated() const { return is_focals_estimated_; } |
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private: |
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void estimate(const std::vector<cv::Mat> &images, const std::vector<ImageFeatures> &features, |
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const std::vector<MatchesInfo> &pairwise_matches, std::vector<CameraParams> &cameras); |
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bool is_focals_estimated_; |
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}; |
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class BundleAdjuster : public Estimator |
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{ |
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public: |
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enum { RAY_SPACE, FOCAL_RAY_SPACE }; |
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BundleAdjuster(int cost_space = FOCAL_RAY_SPACE, float dist_thresh = 1.f) |
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: cost_space_(cost_space), dist_thresh_(dist_thresh) {} |
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private: |
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void estimate(const std::vector<cv::Mat> &images, const std::vector<ImageFeatures> &features, |
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const std::vector<MatchesInfo> &pairwise_matches, std::vector<CameraParams> &cameras); |
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void calcError(cv::Mat &err); |
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void calcJacobian(); |
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int num_images_; |
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int total_num_matches_; |
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const cv::Mat *images_; |
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const ImageFeatures *features_; |
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const MatchesInfo *pairwise_matches_; |
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cv::Mat cameras_; |
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std::vector<std::pair<int,int> > edges_; |
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int cost_space_; |
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float dist_thresh_; |
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cv::Mat err_, err1_, err2_; |
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cv::Mat J_; |
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}; |
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void waveCorrect(std::vector<cv::Mat> &rmats); |
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////////////////////////////////////////////////////////////////////////////// |
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// Auxiliary functions |
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void findMaxSpanningTree(int num_images, const std::vector<MatchesInfo> &pairwise_matches, |
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Graph &span_tree, std::vector<int> ¢ers); |
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#endif // __OPENCV_MOTION_ESTIMATORS_HPP__
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