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2026-10-18 00:32:59 +00:00 · 2015-10-15 17:07:34 +02:00
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+/*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_STITCHING_MOTION_ESTIMATORS_HPP__
+#define __OPENCV_STITCHING_MOTION_ESTIMATORS_HPP__
+
+#include "opencv2/core/core.hpp"
+#include "matchers.hpp"
+#include "util.hpp"
+#include "camera.hpp"
+
+namespace cv {
+namespace detail {
+
+class CV_EXPORTS Estimator
+{
+public:
+    virtual ~Estimator() {}
+
+    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 CV_EXPORTS HomographyBasedEstimator : public Estimator
+{
+public:
+    HomographyBasedEstimator(bool is_focals_estimated = false)
+        : is_focals_estimated_(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 CV_EXPORTS BundleAdjusterBase : public Estimator
+{
+public:
+    const Mat refinementMask() const { return refinement_mask_.clone(); }
+    void setRefinementMask(const Mat &mask)
+    {
+        CV_Assert(mask.type() == CV_8U && mask.size() == Size(3, 3));
+        refinement_mask_ = mask.clone();
+    }
+
+    double confThresh() const { return conf_thresh_; }
+    void setConfThresh(double conf_thresh) { conf_thresh_ = conf_thresh; }
+
+    CvTermCriteria termCriteria() { return term_criteria_; }
+    void setTermCriteria(const CvTermCriteria& term_criteria) { term_criteria_ = term_criteria; }
+
+protected:
+    BundleAdjusterBase(int num_params_per_cam, int num_errs_per_measurement)
+        : num_params_per_cam_(num_params_per_cam),
+          num_errs_per_measurement_(num_errs_per_measurement)
+    {
+        setRefinementMask(Mat::ones(3, 3, CV_8U));
+        setConfThresh(1.);
+        setTermCriteria(cvTermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 1000, DBL_EPSILON));
+    }
+
+    // Runs bundle adjustment
+    virtual void estimate(const std::vector<ImageFeatures> &features,
+                          const std::vector<MatchesInfo> &pairwise_matches,
+                          std::vector<CameraParams> &cameras);
+
+    virtual void setUpInitialCameraParams(const std::vector<CameraParams> &cameras) = 0;
+    virtual void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const = 0;
+    virtual void calcError(Mat &err) = 0;
+    virtual void calcJacobian(Mat &jac) = 0;
+
+    // 3x3 8U mask, where 0 means don't refine respective parameter, != 0 means refine
+    Mat refinement_mask_;
+
+    int num_images_;
+    int total_num_matches_;
+
+    int num_params_per_cam_;
+    int num_errs_per_measurement_;
+
+    const ImageFeatures *features_;
+    const MatchesInfo *pairwise_matches_;
+
+    // Threshold to filter out poorly matched image pairs
+    double conf_thresh_;
+
+    //Levenberg–Marquardt algorithm termination criteria
+    CvTermCriteria term_criteria_;
+
+    // Camera parameters matrix (CV_64F)
+    Mat cam_params_;
+
+    // Connected images pairs
+    std::vector<std::pair<int,int> > edges_;
+};
+
+
+// Minimizes reprojection error.
+// It can estimate focal length, aspect ratio, principal point.
+// You can affect only on them via the refinement mask.
+class CV_EXPORTS BundleAdjusterReproj : public BundleAdjusterBase
+{
+public:
+    BundleAdjusterReproj() : BundleAdjusterBase(7, 2) {}
+
+private:
+    void setUpInitialCameraParams(const std::vector<CameraParams> &cameras);
+    void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const;
+    void calcError(Mat &err);
+    void calcJacobian(Mat &jac);
+
+    Mat err1_, err2_;
+};
+
+
+// Minimizes sun of ray-to-ray distances.
+// It can estimate focal length. It ignores the refinement mask for now.
+class CV_EXPORTS BundleAdjusterRay : public BundleAdjusterBase
+{
+public:
+    BundleAdjusterRay() : BundleAdjusterBase(4, 3) {}
+
+private:
+    void setUpInitialCameraParams(const std::vector<CameraParams> &cameras);
+    void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const;
+    void calcError(Mat &err);
+    void calcJacobian(Mat &jac);
+
+    Mat err1_, err2_;
+};
+
+
+enum WaveCorrectKind
+{
+    WAVE_CORRECT_HORIZ,
+    WAVE_CORRECT_VERT
+};
+
+void CV_EXPORTS waveCorrect(std::vector<Mat> &rmats, WaveCorrectKind kind);
+
+
+//////////////////////////////////////////////////////////////////////////////
+// Auxiliary functions
+
+// Returns matches graph representation in DOT language
+std::string CV_EXPORTS matchesGraphAsString(std::vector<std::string> &pathes, std::vector<MatchesInfo> &pairwise_matches,
+                                            float conf_threshold);
+
+std::vector<int> CV_EXPORTS leaveBiggestComponent(std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches,
+                                                  float conf_threshold);
+
+void CV_EXPORTS findMaxSpanningTree(int num_images, const std::vector<MatchesInfo> &pairwise_matches,
+                                    Graph &span_tree, std::vector<int> &centers);
+
+} // namespace detail
+} // namespace cv
+
+#endif // __OPENCV_STITCHING_MOTION_ESTIMATORS_HPP__