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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009-2011, Willow Garage Inc., all rights reserved.
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//M*/
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#ifndef OPENCV_VIDEOSTAB_MOTION_CORE_HPP
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#define OPENCV_VIDEOSTAB_MOTION_CORE_HPP
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#include <cmath>
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#include "opencv2/core.hpp"
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namespace cv
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{
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namespace videostab
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{
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//! @addtogroup videostab_motion
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//! @{
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/** @brief Describes motion model between two point clouds.
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*/
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enum MotionModel
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{
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MM_TRANSLATION = 0,
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MM_TRANSLATION_AND_SCALE = 1,
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MM_ROTATION = 2,
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MM_RIGID = 3,
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MM_SIMILARITY = 4,
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MM_AFFINE = 5,
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MM_HOMOGRAPHY = 6,
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MM_UNKNOWN = 7
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};
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/** @brief Describes RANSAC method parameters.
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*/
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struct CV_EXPORTS RansacParams
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{
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int size; //!< subset size
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float thresh; //!< max error to classify as inlier
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float eps; //!< max outliers ratio
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float prob; //!< probability of success
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RansacParams() : size(0), thresh(0), eps(0), prob(0) {}
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/** @brief Constructor
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@param size Subset size.
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@param thresh Maximum re-projection error value to classify as inlier.
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@param eps Maximum ratio of incorrect correspondences.
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@param prob Required success probability.
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*/
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RansacParams(int size, float thresh, float eps, float prob);
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/**
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@return Number of iterations that'll be performed by RANSAC method.
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*/
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int niters() const
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{
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return static_cast<int>(
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std::ceil(std::log(1 - prob) / std::log(1 - std::pow(1 - eps, size))));
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}
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/**
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@param model Motion model. See cv::videostab::MotionModel.
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@return Default RANSAC method parameters for the given motion model.
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*/
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static RansacParams default2dMotion(MotionModel model)
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{
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CV_Assert(model < MM_UNKNOWN);
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if (model == MM_TRANSLATION)
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return RansacParams(1, 0.5f, 0.5f, 0.99f);
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if (model == MM_TRANSLATION_AND_SCALE)
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return RansacParams(2, 0.5f, 0.5f, 0.99f);
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if (model == MM_ROTATION)
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return RansacParams(1, 0.5f, 0.5f, 0.99f);
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if (model == MM_RIGID)
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return RansacParams(2, 0.5f, 0.5f, 0.99f);
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if (model == MM_SIMILARITY)
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return RansacParams(2, 0.5f, 0.5f, 0.99f);
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if (model == MM_AFFINE)
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return RansacParams(3, 0.5f, 0.5f, 0.99f);
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return RansacParams(4, 0.5f, 0.5f, 0.99f);
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}
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};
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inline RansacParams::RansacParams(int _size, float _thresh, float _eps, float _prob)
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: size(_size), thresh(_thresh), eps(_eps), prob(_prob) {}
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//! @}
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} // namespace videostab
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} // namespace cv
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#endif
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