_modelest.h 3.52 KB
/*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.
//
//
//                        Intel License Agreement
//                For Open Source Computer Vision Library
//
// Copyright (C) 2000, Intel Corporation, 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 Intel Corporation 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 _CV_MODEL_EST_H_
#define _CV_MODEL_EST_H_

#include "opencv2/calib3d/calib3d.hpp"

class CV_EXPORTS CvModelEstimator2
{
public:
    CvModelEstimator2(int _modelPoints, CvSize _modelSize, int _maxBasicSolutions);
    virtual ~CvModelEstimator2();

    virtual int runKernel( const CvMat* m1, const CvMat* m2, CvMat* model )=0;
    virtual bool runLMeDS( const CvMat* m1, const CvMat* m2, CvMat* model,
                           CvMat* mask, double confidence=0.99, int maxIters=2000 );
    virtual bool runRANSAC( const CvMat* m1, const CvMat* m2, CvMat* model,
                            CvMat* mask, double threshold,
                            double confidence=0.99, int maxIters=2000 );
    virtual bool refine( const CvMat*, const CvMat*, CvMat*, int ) { return true; }
    virtual void setSeed( int64 seed );

protected:
    virtual void computeReprojError( const CvMat* m1, const CvMat* m2,
                                     const CvMat* model, CvMat* error ) = 0;
    virtual int findInliers( const CvMat* m1, const CvMat* m2,
                             const CvMat* model, CvMat* error,
                             CvMat* mask, double threshold );
    virtual bool getSubset( const CvMat* m1, const CvMat* m2,
                            CvMat* ms1, CvMat* ms2, int maxAttempts=1000 );
    virtual bool checkSubset( const CvMat* ms1, int count );

    CvRNG rng;
    int modelPoints;
    CvSize modelSize;
    int maxBasicSolutions;
    bool checkPartialSubsets;
};

#endif // _CV_MODEL_EST_H_