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See cv::videostab::MotionModel. 86 @param params RANSAC method parameters. See videostab::RansacParams. 87 @param rmse Final root-mean-square error. 88 @param ninliers Final number of inliers. 89 */ 90 CV_EXPORTS Mat estimateGlobalMotionRansac( 91 InputArray points0, InputArray points1, int model = MM_AFFINE, 92 const RansacParams ¶ms = RansacParams::default2dMotion(MM_AFFINE), 93 float *rmse = 0, int *ninliers = 0); 94 95 /** @brief Base class for all global motion estimation methods. 96 */ 97 class CV_EXPORTS MotionEstimatorBase 98 { 99 public: ~MotionEstimatorBase()100 virtual ~MotionEstimatorBase() {} 101 102 /** @brief Sets motion model. 103 104 @param val Motion model. See cv::videostab::MotionModel. 105 */ setMotionModel(MotionModel val)106 virtual void setMotionModel(MotionModel val) { motionModel_ = val; } 107 108 /** 109 @return Motion model. See cv::videostab::MotionModel. 110 */ motionModel() const111 virtual MotionModel motionModel() const { return motionModel_; } 112 113 /** @brief Estimates global motion between two 2D point clouds. 114 115 @param points0 Source set of 2D points (32F). 116 @param points1 Destination set of 2D points (32F). 117 @param ok Indicates whether motion was estimated successfully. 118 @return 3x3 2D transformation matrix (32F). 119 */ 120 virtual Mat estimate(InputArray points0, InputArray points1, bool *ok = 0) = 0; 121 122 protected: MotionEstimatorBase(MotionModel model)123 MotionEstimatorBase(MotionModel model) { setMotionModel(model); } 124 125 private: 126 MotionModel motionModel_; 127 }; 128 129 /** @brief Describes a robust RANSAC-based global 2D motion estimation method which minimizes L2 error. 130 */ 131 class CV_EXPORTS MotionEstimatorRansacL2 : public MotionEstimatorBase 132 { 133 public: 134 MotionEstimatorRansacL2(MotionModel model = MM_AFFINE); 135 setRansacParams(const RansacParams & val)136 void setRansacParams(const RansacParams &val) { ransacParams_ = val; } ransacParams() const137 RansacParams ransacParams() const { return ransacParams_; } 138 setMinInlierRatio(float val)139 void setMinInlierRatio(float val) { minInlierRatio_ = val; } minInlierRatio() const140 float minInlierRatio() const { return minInlierRatio_; } 141 142 virtual Mat estimate(InputArray points0, InputArray points1, bool *ok = 0) CV_OVERRIDE; 143 144 private: 145 RansacParams ransacParams_; 146 float minInlierRatio_; 147 }; 148 149 /** @brief Describes a global 2D motion estimation method which minimizes L1 error. 150 151 @note To be able to use this method you must build OpenCV with CLP library support. : 152 */ 153 class CV_EXPORTS MotionEstimatorL1 : public MotionEstimatorBase 154 { 155 public: 156 MotionEstimatorL1(MotionModel model = MM_AFFINE); 157 158 virtual Mat estimate(InputArray points0, InputArray points1, bool *ok = 0) CV_OVERRIDE; 159 160 private: 161 std::vector<double> obj_, collb_, colub_; 162 std::vector<double> elems_, rowlb_, rowub_; 163 std::vector<int> rows_, cols_; 164 set(int row,int col,double coef)165 void set(int row, int col, double coef) 166 { 167 rows_.push_back(row); 168 cols_.push_back(col); 169 elems_.push_back(coef); 170 } 171 }; 172 173 /** @brief Base class for global 2D motion estimation methods which take frames as input. 174 */ 175 class CV_EXPORTS ImageMotionEstimatorBase 176 { 177 public: ~ImageMotionEstimatorBase()178 virtual ~ImageMotionEstimatorBase() {} 179 setMotionModel(MotionModel val)180 virtual void setMotionModel(MotionModel val) { motionModel_ = val; } motionModel() const181 virtual MotionModel motionModel() const { return motionModel_; } 182 183 virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0) = 0; 184 185 protected: ImageMotionEstimatorBase(MotionModel model)186 ImageMotionEstimatorBase(MotionModel model) { setMotionModel(model); } 187 188 private: 189 MotionModel motionModel_; 190 }; 191 192 class CV_EXPORTS FromFileMotionReader : public ImageMotionEstimatorBase 193 { 194 public: 195 FromFileMotionReader(const String &path); 196 197 virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0) CV_OVERRIDE; 198 199 private: 200 std::ifstream file_; 201 }; 202 203 class CV_EXPORTS ToFileMotionWriter : public ImageMotionEstimatorBase 204 { 205 public: 206 ToFileMotionWriter(const String &path, Ptr<ImageMotionEstimatorBase> estimator); 207 setMotionModel(MotionModel val)208 virtual void setMotionModel(MotionModel val) CV_OVERRIDE { motionEstimator_->setMotionModel(val); } motionModel() const209 virtual MotionModel motionModel() const CV_OVERRIDE { return motionEstimator_->motionModel(); } 210 211 virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0) CV_OVERRIDE; 212 213 private: 214 std::ofstream file_; 215 Ptr<ImageMotionEstimatorBase> motionEstimator_; 216 }; 217 218 /** @brief Describes a global 2D motion estimation method which uses keypoints detection and optical flow for 219 matching. 220 */ 221 class CV_EXPORTS KeypointBasedMotionEstimator : public ImageMotionEstimatorBase 222 { 223 public: 224 KeypointBasedMotionEstimator(Ptr<MotionEstimatorBase> estimator); 225 setMotionModel(MotionModel val)226 virtual void setMotionModel(MotionModel val) CV_OVERRIDE { motionEstimator_->setMotionModel(val); } motionModel() const227 virtual MotionModel motionModel() const CV_OVERRIDE { return motionEstimator_->motionModel(); } 228 setDetector(Ptr<FeatureDetector> val)229 void setDetector(Ptr<FeatureDetector> val) { detector_ = val; } detector() const230 Ptr<FeatureDetector> detector() const { return detector_; } 231 setOpticalFlowEstimator(Ptr<ISparseOptFlowEstimator> val)232 void setOpticalFlowEstimator(Ptr<ISparseOptFlowEstimator> val) { optFlowEstimator_ = val; } opticalFlowEstimator() const233 Ptr<ISparseOptFlowEstimator> opticalFlowEstimator() const { return optFlowEstimator_; } 234 setOutlierRejector(Ptr<IOutlierRejector> val)235 void setOutlierRejector(Ptr<IOutlierRejector> val) { outlierRejector_ = val; } outlierRejector() const236 Ptr<IOutlierRejector> outlierRejector() const { return outlierRejector_; } 237 238 virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0) CV_OVERRIDE; 239 Mat estimate(InputArray frame0, InputArray frame1, bool *ok = 0); 240 241 private: 242 Ptr<MotionEstimatorBase> motionEstimator_; 243 Ptr<FeatureDetector> detector_; 244 Ptr<ISparseOptFlowEstimator> optFlowEstimator_; 245 Ptr<IOutlierRejector> outlierRejector_; 246 247 std::vector<uchar> status_; 248 std::vector<KeyPoint> keypointsPrev_; 249 std::vector<Point2f> pointsPrev_, points_; 250 std::vector<Point2f> pointsPrevGood_, pointsGood_; 251 }; 252 253 #if defined(HAVE_OPENCV_CUDAIMGPROC) && defined(HAVE_OPENCV_CUDAOPTFLOW) 254 255 class CV_EXPORTS KeypointBasedMotionEstimatorGpu : public ImageMotionEstimatorBase 256 { 257 public: 258 KeypointBasedMotionEstimatorGpu(Ptr<MotionEstimatorBase> estimator); 259 setMotionModel(MotionModel val)260 virtual void setMotionModel(MotionModel val) CV_OVERRIDE { motionEstimator_->setMotionModel(val); } motionModel() const261 virtual MotionModel motionModel() const CV_OVERRIDE { return motionEstimator_->motionModel(); } 262 setOutlierRejector(Ptr<IOutlierRejector> val)263 void setOutlierRejector(Ptr<IOutlierRejector> val) { outlierRejector_ = val; } outlierRejector() const264 Ptr<IOutlierRejector> outlierRejector() const { return outlierRejector_; } 265 266 virtual Mat estimate(const Mat &frame0, const Mat &frame1, bool *ok = 0) CV_OVERRIDE; 267 Mat estimate(const cuda::GpuMat &frame0, const cuda::GpuMat &frame1, bool *ok = 0); 268 269 private: 270 Ptr<MotionEstimatorBase> motionEstimator_; 271 Ptr<cuda::CornersDetector> detector_; 272 SparsePyrLkOptFlowEstimatorGpu optFlowEstimator_; 273 Ptr<IOutlierRejector> outlierRejector_; 274 275 cuda::GpuMat frame0_, grayFrame0_, frame1_; 276 cuda::GpuMat pointsPrev_, points_; 277 cuda::GpuMat status_; 278 279 Mat hostPointsPrev_, hostPoints_; 280 std::vector<Point2f> hostPointsPrevTmp_, hostPointsTmp_; 281 std::vector<uchar> rejectionStatus_; 282 }; 283 284 #endif // defined(HAVE_OPENCV_CUDAIMGPROC) && defined(HAVE_OPENCV_CUDAOPTFLOW) 285 286 /** @brief Computes motion between two frames assuming that all the intermediate motions are known. 287 288 @param from Source frame index. 289 @param to Destination frame index. 290 @param motions Pair-wise motions. motions[i] denotes motion from the frame i to the frame i+1 291 @return Motion from the Source frame to the Destination frame. 292 */ 293 CV_EXPORTS Mat getMotion(int from, int to, const std::vector<Mat> &motions); 294 295 //! @} 296 297 } // namespace videostab 298 } // namespace cv 299 300 #endif 301