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36 // loss of use, data, or profits; or business interruption) however caused 37 // and on any theory of liability, whether in contract, strict liability, 38 // or tort (including negligence or otherwise) arising in any way out of 39 // the use of this software, even if advised of the possibility of such damage. 40 // 41 //M*/ 42 43 #ifndef __OPENCV_STITCHING_MOTION_ESTIMATORS_HPP__ 44 #define __OPENCV_STITCHING_MOTION_ESTIMATORS_HPP__ 45 46 #include "opencv2/core.hpp" 47 #include "matchers.hpp" 48 #include "util.hpp" 49 #include "camera.hpp" 50 51 namespace cv { 52 namespace detail { 53 54 //! @addtogroup stitching_rotation 55 //! @{ 56 57 /** @brief Rotation estimator base class. 58 59 It takes features of all images, pairwise matches between all images and estimates rotations of all 60 cameras. 61 62 @note The coordinate system origin is implementation-dependent, but you can always normalize the 63 rotations in respect to the first camera, for instance. : 64 */ 65 class CV_EXPORTS Estimator 66 { 67 public: ~Estimator()68 virtual ~Estimator() {} 69 70 /** @brief Estimates camera parameters. 71 72 @param features Features of images 73 @param pairwise_matches Pairwise matches of images 74 @param cameras Estimated camera parameters 75 @return True in case of success, false otherwise 76 */ operator ()(const std::vector<ImageFeatures> & features,const std::vector<MatchesInfo> & pairwise_matches,std::vector<CameraParams> & cameras)77 bool operator ()(const std::vector<ImageFeatures> &features, 78 const std::vector<MatchesInfo> &pairwise_matches, 79 std::vector<CameraParams> &cameras) 80 { return estimate(features, pairwise_matches, cameras); } 81 82 protected: 83 /** @brief This method must implement camera parameters estimation logic in order to make the wrapper 84 detail::Estimator::operator()_ work. 85 86 @param features Features of images 87 @param pairwise_matches Pairwise matches of images 88 @param cameras Estimated camera parameters 89 @return True in case of success, false otherwise 90 */ 91 virtual bool estimate(const std::vector<ImageFeatures> &features, 92 const std::vector<MatchesInfo> &pairwise_matches, 93 std::vector<CameraParams> &cameras) = 0; 94 }; 95 96 /** @brief Homography based rotation estimator. 97 */ 98 class CV_EXPORTS HomographyBasedEstimator : public Estimator 99 { 100 public: HomographyBasedEstimator(bool is_focals_estimated=false)101 HomographyBasedEstimator(bool is_focals_estimated = false) 102 : is_focals_estimated_(is_focals_estimated) {} 103 104 private: 105 virtual bool estimate(const std::vector<ImageFeatures> &features, 106 const std::vector<MatchesInfo> &pairwise_matches, 107 std::vector<CameraParams> &cameras); 108 109 bool is_focals_estimated_; 110 }; 111 112 /** @brief Base class for all camera parameters refinement methods. 113 */ 114 class CV_EXPORTS BundleAdjusterBase : public Estimator 115 { 116 public: refinementMask() const117 const Mat refinementMask() const { return refinement_mask_.clone(); } setRefinementMask(const Mat & mask)118 void setRefinementMask(const Mat &mask) 119 { 120 CV_Assert(mask.type() == CV_8U && mask.size() == Size(3, 3)); 121 refinement_mask_ = mask.clone(); 122 } 123 confThresh() const124 double confThresh() const { return conf_thresh_; } setConfThresh(double conf_thresh)125 void setConfThresh(double conf_thresh) { conf_thresh_ = conf_thresh; } 126 termCriteria()127 TermCriteria termCriteria() { return term_criteria_; } setTermCriteria(const TermCriteria & term_criteria)128 void setTermCriteria(const TermCriteria& term_criteria) { term_criteria_ = term_criteria; } 129 130 protected: 131 /** @brief Construct a bundle adjuster base instance. 132 133 @param num_params_per_cam Number of parameters per camera 134 @param num_errs_per_measurement Number of error terms (components) per match 135 */ BundleAdjusterBase(int num_params_per_cam,int num_errs_per_measurement)136 BundleAdjusterBase(int num_params_per_cam, int num_errs_per_measurement) 137 : num_params_per_cam_(num_params_per_cam), 138 num_errs_per_measurement_(num_errs_per_measurement) 139 { 140 setRefinementMask(Mat::ones(3, 3, CV_8U)); 141 setConfThresh(1.); 142 setTermCriteria(TermCriteria(TermCriteria::EPS + TermCriteria::COUNT, 1000, DBL_EPSILON)); 143 } 144 145 // Runs bundle adjustment 146 virtual bool estimate(const std::vector<ImageFeatures> &features, 147 const std::vector<MatchesInfo> &pairwise_matches, 148 std::vector<CameraParams> &cameras); 149 150 /** @brief Sets initial camera parameter to refine. 151 152 @param cameras Camera parameters 153 */ 154 virtual void setUpInitialCameraParams(const std::vector<CameraParams> &cameras) = 0; 155 /** @brief Gets the refined camera parameters. 156 157 @param cameras Refined camera parameters 158 */ 159 virtual void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const = 0; 160 /** @brief Calculates error vector. 161 162 @param err Error column-vector of length total_num_matches \* num_errs_per_measurement 163 */ 164 virtual void calcError(Mat &err) = 0; 165 /** @brief Calculates the cost function jacobian. 166 167 @param jac Jacobian matrix of dimensions 168 (total_num_matches \* num_errs_per_measurement) x (num_images \* num_params_per_cam) 169 */ 170 virtual void calcJacobian(Mat &jac) = 0; 171 172 // 3x3 8U mask, where 0 means don't refine respective parameter, != 0 means refine 173 Mat refinement_mask_; 174 175 int num_images_; 176 int total_num_matches_; 177 178 int num_params_per_cam_; 179 int num_errs_per_measurement_; 180 181 const ImageFeatures *features_; 182 const MatchesInfo *pairwise_matches_; 183 184 // Threshold to filter out poorly matched image pairs 185 double conf_thresh_; 186 187 //Levenberg–Marquardt algorithm termination criteria 188 TermCriteria term_criteria_; 189 190 // Camera parameters matrix (CV_64F) 191 Mat cam_params_; 192 193 // Connected images pairs 194 std::vector<std::pair<int,int> > edges_; 195 }; 196 197 198 /** @brief Implementation of the camera parameters refinement algorithm which minimizes sum of the reprojection 199 error squares 200 201 It can estimate focal length, aspect ratio, principal point. 202 You can affect only on them via the refinement mask. 203 */ 204 class CV_EXPORTS BundleAdjusterReproj : public BundleAdjusterBase 205 { 206 public: BundleAdjusterReproj()207 BundleAdjusterReproj() : BundleAdjusterBase(7, 2) {} 208 209 private: 210 void setUpInitialCameraParams(const std::vector<CameraParams> &cameras); 211 void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const; 212 void calcError(Mat &err); 213 void calcJacobian(Mat &jac); 214 215 Mat err1_, err2_; 216 }; 217 218 219 /** @brief Implementation of the camera parameters refinement algorithm which minimizes sum of the distances 220 between the rays passing through the camera center and a feature. : 221 222 It can estimate focal length. It ignores the refinement mask for now. 223 */ 224 class CV_EXPORTS BundleAdjusterRay : public BundleAdjusterBase 225 { 226 public: BundleAdjusterRay()227 BundleAdjusterRay() : BundleAdjusterBase(4, 3) {} 228 229 private: 230 void setUpInitialCameraParams(const std::vector<CameraParams> &cameras); 231 void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const; 232 void calcError(Mat &err); 233 void calcJacobian(Mat &jac); 234 235 Mat err1_, err2_; 236 }; 237 238 239 enum WaveCorrectKind 240 { 241 WAVE_CORRECT_HORIZ, 242 WAVE_CORRECT_VERT 243 }; 244 245 /** @brief Tries to make panorama more horizontal (or vertical). 246 247 @param rmats Camera rotation matrices. 248 @param kind Correction kind, see detail::WaveCorrectKind. 249 */ 250 void CV_EXPORTS waveCorrect(std::vector<Mat> &rmats, WaveCorrectKind kind); 251 252 253 ////////////////////////////////////////////////////////////////////////////// 254 // Auxiliary functions 255 256 // Returns matches graph representation in DOT language 257 String CV_EXPORTS matchesGraphAsString(std::vector<String> &pathes, std::vector<MatchesInfo> &pairwise_matches, 258 float conf_threshold); 259 260 std::vector<int> CV_EXPORTS leaveBiggestComponent( 261 std::vector<ImageFeatures> &features, 262 std::vector<MatchesInfo> &pairwise_matches, 263 float conf_threshold); 264 265 void CV_EXPORTS findMaxSpanningTree( 266 int num_images, const std::vector<MatchesInfo> &pairwise_matches, 267 Graph &span_tree, std::vector<int> ¢ers); 268 269 //! @} stitching_rotation 270 271 } // namespace detail 272 } // namespace cv 273 274 #endif // __OPENCV_STITCHING_MOTION_ESTIMATORS_HPP__ 275