diff options
Diffstat (limited to 'extern/libmv/libmv/multiview/homography.h')
| -rw-r--r-- | extern/libmv/libmv/multiview/homography.h | 50 |
1 files changed, 32 insertions, 18 deletions
diff --git a/extern/libmv/libmv/multiview/homography.h b/extern/libmv/libmv/multiview/homography.h index 1928e39dffb..6d810c845ed 100644 --- a/extern/libmv/libmv/multiview/homography.h +++ b/extern/libmv/libmv/multiview/homography.h @@ -60,24 +60,35 @@ bool Homography2DFromCorrespondencesLinear(const Mat &x1, * Defaults should be suitable for a wide range of use cases, but * better performance and accuracy might require tweaking/ */ -struct HomographyEstimationOptions { +struct EstimateHomographyOptions { // Default constructor which sets up a options for generic usage. - HomographyEstimationOptions(void); + EstimateHomographyOptions(void); - // Expected precision of algebraic estimation. - double expected_algebraic_precision; + // Normalize correspondencies before estimating the homography + // in order to increase estimation stability. + // + // Normaliztion will make it so centroid od correspondences + // is the coordinate origin and their average distance from + // the origin is sqrt(2). + // + // See: + // - R. Hartley and A. Zisserman. Multiple View Geometry in Computer + // Vision. Cambridge University Press, second edition, 2003. + // - https://www.cs.ubc.ca/grads/resources/thesis/May09/Dubrofsky_Elan.pdf + bool use_normalization; - // Refine homography even if algebraic estimation reported failure. - bool use_refine_if_algebraic_fails; - - // Maximal number of iterations for refinement step. + // Maximal number of iterations for the refinement step. int max_num_iterations; - // Paramaneter tolerance used by minimizer termination criteria. - float parameter_tolerance; - - // Function tolerance used by minimizer termination criteria. - float function_tolerance; + // Expected average of symmetric geometric distance between + // actual destination points and original ones transformed by + // estimated homography matrix. + // + // Refinement will finish as soon as average of symmetric + // geometric distance is less or equal to this value. + // + // This distance is measured in the same units as input points are. + double expected_average_symmetric_distance; }; /** @@ -87,10 +98,11 @@ struct HomographyEstimationOptions { * correspondences by doing algebraic estimation first followed with result * refinement. */ -bool Homography2DFromCorrespondencesEuc(const Mat &x1, - const Mat &x2, - const HomographyEstimationOptions &options, - Mat3 *H); +bool EstimateHomography2DFromCorrespondences( + const Mat &x1, + const Mat &x2, + const EstimateHomographyOptions &options, + Mat3 *H); /** * 3D Homography transformation estimation. @@ -124,7 +136,9 @@ bool Homography3DFromCorrespondencesLinear(const Mat &x1, * * D(H * x1, x2)^2 + D(H^-1 * x2, x1) */ -double SymmetricGeometricDistance(Mat3 &H, Vec2 &x1, Vec2 &x2); +double SymmetricGeometricDistance(const Mat3 &H, + const Vec2 &x1, + const Vec2 &x2); } // namespace libmv |