opencv/modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp

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#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() : 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 CV_EXPORTS BundleAdjusterBase : public Estimator
{
public:
    double confThresh() const { return conf_thresh_; }
    void setConfThresh(double conf_thresh) { conf_thresh_ = conf_thresh; }

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.); }

    // 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_;

    // 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_;
};


// Minimizes sun of ray-to-ray distances
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_;
};


void CV_EXPORTS waveCorrect(std::vector<Mat> &rmats);


//////////////////////////////////////////////////////////////////////////////
// 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__