1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
|
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_MOTION_ESTIMATORS_HPP__
#define __OPENCV_MOTION_ESTIMATORS_HPP__
#include "precomp.hpp"
#include "matchers.hpp"
#include "util.hpp"
struct CameraParams
{
CameraParams();
CameraParams(const CameraParams& other);
const CameraParams& operator =(const CameraParams& other);
double focal; // Focal length
cv::Mat R; // Rotation
cv::Mat t; // Translation
};
class Estimator
{
public:
void operator ()(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches,
std::vector<CameraParams> &cameras)
{
estimate(features, pairwise_matches, cameras);
}
protected:
virtual void estimate(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<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 conf_thresh = 1.f)
: cost_space_(cost_space), conf_thresh_(conf_thresh) {}
private:
void estimate(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 ImageFeatures *features_;
const MatchesInfo *pairwise_matches_;
cv::Mat cameras_;
std::vector<std::pair<int,int> > edges_;
int cost_space_;
float conf_thresh_;
cv::Mat err_, err1_, err2_;
cv::Mat J_;
};
void waveCorrect(std::vector<cv::Mat> &rmats);
//////////////////////////////////////////////////////////////////////////////
// Auxiliary functions
std::vector<int> leaveBiggestComponent(std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches,
float conf_threshold);
void findMaxSpanningTree(int num_images, const std::vector<MatchesInfo> &pairwise_matches,
Graph &span_tree, std::vector<int> ¢ers);
#endif // __OPENCV_MOTION_ESTIMATORS_HPP__
|
