Rotation Estimation =================== .. highlight:: cpp detail::Estimator ----------------- .. ocv:class:: detail::Estimator Rotation estimator base class. It takes features of all images, pairwise matches between all images and estimates rotations of all cameras. .. note:: The coordinate system origin is implementation-dependent, but you can always normalize the rotations in respect to the first camera, for instance. :: 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; }; detail::Estimator::operator() ----------------------------- Estimates camera parameters. .. ocv:function:: detail::Estimator::operator ()(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches, std::vector<CameraParams> &cameras) :param features: Features of images :param pairwise_matches: Pairwise matches of images :param cameras: Estimated camera parameters detail::Estimator::estimate --------------------------- This method must implement camera parameters estimation logic in order to make the wrapper `detail::Estimator::operator()`_ work. .. ocv:function:: void detail::Estimator::estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches, std::vector<CameraParams> &cameras) :param features: Features of images :param pairwise_matches: Pairwise matches of images :param cameras: Estimated camera parameters detail::HomographyBasedEstimator -------------------------------- .. ocv:class:: detail::HomographyBasedEstimator : public detail::Estimator Homography based rotation estimator. :: class CV_EXPORTS HomographyBasedEstimator : public Estimator { public: HomographyBasedEstimator(bool is_focals_estimated = false) : is_focals_estimated_(is_focals_estimated) {} private: /* hidden */ }; detail::BundleAdjusterBase -------------------------- .. ocv:class:: detail::BundleAdjusterBase : public detail::Estimator Base class for all camera parameters refinement methods. :: 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_; }; .. seealso:: :ocv:class:`detail::Estimator` detail::BundleAdjusterBase::BundleAdjusterBase ---------------------------------------------- Construct a bundle adjuster base instance. .. ocv:function:: detail::BundleAdjusterBase::BundleAdjusterBase(int num_params_per_cam, int num_errs_per_measurement) :param num_params_per_cam: Number of parameters per camera :param num_errs_per_measurement: Number of error terms (components) per match detail::BundleAdjusterBase::setUpInitialCameraParams ---------------------------------------------------- Sets initial camera parameter to refine. .. ocv:function:: void detail::BundleAdjusterBase::setUpInitialCameraParams(const std::vector<CameraParams> &cameras) :param cameras: Camera parameters detail::BundleAdjusterBase::calcError ------------------------------------- Calculates error vector. .. ocv:function:: void detail::BundleAdjusterBase::calcError(Mat &err) :param err: Error column-vector of length ``total_num_matches * num_errs_per_measurement`` detail::BundleAdjusterBase::calcJacobian ---------------------------------------- Calculates the cost function jacobian. .. ocv:function:: void detail::BundleAdjusterBase::calcJacobian(Mat &jac) :param jac: Jacobian matrix of dimensions ``(total_num_matches * num_errs_per_measurement) x (num_images * num_params_per_cam)`` detail::BundleAdjusterBase::obtainRefinedCameraParams ----------------------------------------------------- Gets the refined camera parameters. .. ocv:function:: void detail::BundleAdjusterBase::obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const :param cameras: Refined camera parameters detail::BundleAdjusterReproj ---------------------------- .. ocv:class:: detail::BundleAdjusterReproj : public detail::BundleAdjusterBase Implementation of the camera parameters refinement algorithm which minimizes sum of the reprojection error squares. :: class CV_EXPORTS BundleAdjusterReproj : public BundleAdjusterBase { public: BundleAdjusterReproj() : BundleAdjusterBase(7, 2) {} private: /* hidden */ }; .. seealso:: :ocv:class:`detail::BundleAdjusterBase`, :ocv:class:`detail::Estimator` detail::BundleAdjusterRay ------------------------- .. ocv:class:: detail::BundleAdjusterRay : public detail::BundleAdjusterBase Implementation of the camera parameters refinement algorithm which minimizes sum of the distances between the rays passing through the camera center and a feature. :: class CV_EXPORTS BundleAdjusterRay : public BundleAdjusterBase { public: BundleAdjusterRay() : BundleAdjusterBase(4, 3) {} private: /* hidden */ }; .. seealso:: :ocv:class:`detail::BundleAdjusterBase` detail::WaveCorrectKind ----------------------- Wave correction kind. .. ocv:enum:: detail::WaveCorrectKind .. ocv:emember:: WAVE_CORRECT_HORIZ .. ocv:emember:: WAVE_CORRECT_VERT detail::waveCorrect ------------------- Tries to make panorama more horizontal (or vertical). .. ocv:function:: void detail::waveCorrect(std::vector<Mat> &rmats, WaveCorrectKind kind) :param rmats: Camera rotation matrices. :param kind: Correction kind, see :ocv:enum:`detail::WaveCorrectKind`.