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