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42
43 #ifndef OPENCV_VIDEOSTAB_MOTION_CORE_HPP
44 #define OPENCV_VIDEOSTAB_MOTION_CORE_HPP
45
46 #include <cmath>
47 #include "opencv2/core.hpp"
48
49 namespace cv
50 {
51 namespace videostab
52 {
53
54 //! @addtogroup videostab_motion
55 //! @{
56
57 /** @brief Describes motion model between two point clouds.
58 */
59 enum MotionModel
60 {
61 MM_TRANSLATION = 0,
62 MM_TRANSLATION_AND_SCALE = 1,
63 MM_ROTATION = 2,
64 MM_RIGID = 3,
65 MM_SIMILARITY = 4,
66 MM_AFFINE = 5,
67 MM_HOMOGRAPHY = 6,
68 MM_UNKNOWN = 7
69 };
70
71 /** @brief Describes RANSAC method parameters.
72 */
73 struct CV_EXPORTS RansacParams
74 {
75 int size; //!< subset size
76 float thresh; //!< max error to classify as inlier
77 float eps; //!< max outliers ratio
78 float prob; //!< probability of success
79
RansacParamscv::videostab::RansacParams80 RansacParams() : size(0), thresh(0), eps(0), prob(0) {}
81 /** @brief Constructor
82 @param size Subset size.
83 @param thresh Maximum re-projection error value to classify as inlier.
84 @param eps Maximum ratio of incorrect correspondences.
85 @param prob Required success probability.
86 */
87 RansacParams(int size, float thresh, float eps, float prob);
88
89 /**
90 @return Number of iterations that'll be performed by RANSAC method.
91 */
niterscv::videostab::RansacParams92 int niters() const
93 {
94 return static_cast<int>(
95 std::ceil(std::log(1 - prob) / std::log(1 - std::pow(1 - eps, size))));
96 }
97
98 /**
99 @param model Motion model. See cv::videostab::MotionModel.
100 @return Default RANSAC method parameters for the given motion model.
101 */
default2dMotioncv::videostab::RansacParams102 static RansacParams default2dMotion(MotionModel model)
103 {
104 CV_Assert(model < MM_UNKNOWN);
105 if (model == MM_TRANSLATION)
106 return RansacParams(1, 0.5f, 0.5f, 0.99f);
107 if (model == MM_TRANSLATION_AND_SCALE)
108 return RansacParams(2, 0.5f, 0.5f, 0.99f);
109 if (model == MM_ROTATION)
110 return RansacParams(1, 0.5f, 0.5f, 0.99f);
111 if (model == MM_RIGID)
112 return RansacParams(2, 0.5f, 0.5f, 0.99f);
113 if (model == MM_SIMILARITY)
114 return RansacParams(2, 0.5f, 0.5f, 0.99f);
115 if (model == MM_AFFINE)
116 return RansacParams(3, 0.5f, 0.5f, 0.99f);
117 return RansacParams(4, 0.5f, 0.5f, 0.99f);
118 }
119 };
120
RansacParams(int _size,float _thresh,float _eps,float _prob)121 inline RansacParams::RansacParams(int _size, float _thresh, float _eps, float _prob)
122 : size(_size), thresh(_thresh), eps(_eps), prob(_prob) {}
123
124 //! @}
125
126 } // namespace videostab
127 } // namespace cv
128
129 #endif
130