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Refactored motion estimators in stitching module

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This commit is contained in:
Alexey Spizhevoy
2011-09-21 12:13:07 +00:00
parent 4a5abc7552
commit dbce155874
4 changed files with 147 additions and 93 deletions
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modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp
+45 -13
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@@ -80,29 +80,61 @@ private:
};
// Minimizes reprojection error
class CV_EXPORTS BundleAdjusterReproj : public Estimator
class CV_EXPORTS BundleAdjusterBase : public Estimator
{
public:
BundleAdjusterReproj(float conf_thresh = 1.f) : conf_thresh_(conf_thresh) {}
double confThresh() const { return conf_thresh_; }
void setConfThresh(double conf_thresh) { conf_thresh_ = conf_thresh; }
private:
void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches,
std::vector<CameraParams> &cameras);
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)
{ setConfThresh(1.); }
void calcError(Mat &err);
void calcJacobian();
// 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;
int num_images_;
int total_num_matches_;
int num_params_per_cam_;
int num_errs_per_measurement_;
const ImageFeatures *features_;
const MatchesInfo *pairwise_matches_;
Mat cameras_;
std::vector<std::pair<int,int> > edges_;
float conf_thresh_;
Mat err_, err1_, err2_;
Mat J_;
// Threshold to filter out poorly matched image pairs
double conf_thresh_;
// Camera parameters matrix (CV_64F)
Mat cam_params_;
// Connected images pairs
std::vector<std::pair<int,int> > edges_;
};
// Minimizes reprojection error
class CV_EXPORTS BundleAdjusterReproj : public BundleAdjusterBase
{
public:
BundleAdjusterReproj() : BundleAdjusterBase(6, 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_;
};