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init: 64 bits version of the webcam

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This commit is contained in:
Nicolas RACOT
2026-07-13 16:31:52 +02:00
parent c0f3eeb00d
commit 07e526544d
381 changed files with 43996 additions and 9097 deletions
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117
include/opencv2/stitching/detail/motion_estimators.hpp
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@ -40,8 +40,8 @@
//
//M*/
#ifndef __OPENCV_STITCHING_MOTION_ESTIMATORS_HPP__
#define __OPENCV_STITCHING_MOTION_ESTIMATORS_HPP__
#ifndef OPENCV_STITCHING_MOTION_ESTIMATORS_HPP
#define OPENCV_STITCHING_MOTION_ESTIMATORS_HPP
#include "opencv2/core.hpp"
#include "matchers.hpp"
@ -104,11 +104,26 @@ public:
private:
virtual bool estimate(const std::vector<ImageFeatures> &features,
const std::vector<MatchesInfo> &pairwise_matches,
std::vector<CameraParams> &cameras);
std::vector<CameraParams> &cameras) CV_OVERRIDE;
bool is_focals_estimated_;
};
/** @brief Affine transformation based estimator.
This estimator uses pairwise transformations estimated by matcher to estimate
final transformation for each camera.
@sa cv::detail::HomographyBasedEstimator
*/
class CV_EXPORTS AffineBasedEstimator : public Estimator
{
private:
virtual bool estimate(const std::vector<ImageFeatures> &features,
const std::vector<MatchesInfo> &pairwise_matches,
std::vector<CameraParams> &cameras) CV_OVERRIDE;
};
/** @brief Base class for all camera parameters refinement methods.
*/
class CV_EXPORTS BundleAdjusterBase : public Estimator
@ -134,8 +149,10 @@ protected:
@param num_errs_per_measurement Number of error terms (components) per match
*/
BundleAdjusterBase(int num_params_per_cam, int num_errs_per_measurement)
: num_params_per_cam_(num_params_per_cam),
num_errs_per_measurement_(num_errs_per_measurement)
: num_images_(0), total_num_matches_(0),
num_params_per_cam_(num_params_per_cam),
num_errs_per_measurement_(num_errs_per_measurement),
features_(0), pairwise_matches_(0), conf_thresh_(0)
{
setRefinementMask(Mat::ones(3, 3, CV_8U));
setConfThresh(1.);
@ -145,7 +162,7 @@ protected:
// Runs bundle adjustment
virtual bool estimate(const std::vector<ImageFeatures> &features,
const std::vector<MatchesInfo> &pairwise_matches,
std::vector<CameraParams> &cameras);
std::vector<CameraParams> &cameras) CV_OVERRIDE;
/** @brief Sets initial camera parameter to refine.
@ -184,7 +201,7 @@ protected:
// Threshold to filter out poorly matched image pairs
double conf_thresh_;
//Levenberg–Marquardt algorithm termination criteria
//Levenberg-Marquardt algorithm termination criteria
TermCriteria term_criteria_;
// Camera parameters matrix (CV_64F)
@ -195,6 +212,26 @@ protected:
};
/** @brief Stub bundle adjuster that does nothing.
*/
class CV_EXPORTS NoBundleAdjuster : public BundleAdjusterBase
{
public:
NoBundleAdjuster() : BundleAdjusterBase(0, 0) {}
private:
bool estimate(const std::vector<ImageFeatures> &, const std::vector<MatchesInfo> &,
std::vector<CameraParams> &) CV_OVERRIDE
{
return true;
}
void setUpInitialCameraParams(const std::vector<CameraParams> &) CV_OVERRIDE {}
void obtainRefinedCameraParams(std::vector<CameraParams> &) const CV_OVERRIDE {}
void calcError(Mat &) CV_OVERRIDE {}
void calcJacobian(Mat &) CV_OVERRIDE {}
};
/** @brief Implementation of the camera parameters refinement algorithm which minimizes sum of the reprojection
error squares
@ -207,10 +244,10 @@ public:
BundleAdjusterReproj() : BundleAdjusterBase(7, 2) {}
private:
void setUpInitialCameraParams(const std::vector<CameraParams> &cameras);
void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const;
void calcError(Mat &err);
void calcJacobian(Mat &jac);
void setUpInitialCameraParams(const std::vector<CameraParams> &cameras) CV_OVERRIDE;
void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const CV_OVERRIDE;
void calcError(Mat &err) CV_OVERRIDE;
void calcJacobian(Mat &jac) CV_OVERRIDE;
Mat err1_, err2_;
};
@ -227,10 +264,58 @@ public:
BundleAdjusterRay() : BundleAdjusterBase(4, 3) {}
private:
void setUpInitialCameraParams(const std::vector<CameraParams> &cameras);
void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const;
void calcError(Mat &err);
void calcJacobian(Mat &jac);
void setUpInitialCameraParams(const std::vector<CameraParams> &cameras) CV_OVERRIDE;
void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const CV_OVERRIDE;
void calcError(Mat &err) CV_OVERRIDE;
void calcJacobian(Mat &jac) CV_OVERRIDE;
Mat err1_, err2_;
};
/** @brief Bundle adjuster that expects affine transformation
represented in homogeneous coordinates in R for each camera param. Implements
camera parameters refinement algorithm which minimizes sum of the reprojection
error squares
It estimates all transformation parameters. Refinement mask is ignored.
@sa AffineBasedEstimator AffineBestOf2NearestMatcher BundleAdjusterAffinePartial
*/
class CV_EXPORTS BundleAdjusterAffine : public BundleAdjusterBase
{
public:
BundleAdjusterAffine() : BundleAdjusterBase(6, 2) {}
private:
void setUpInitialCameraParams(const std::vector<CameraParams> &cameras) CV_OVERRIDE;
void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const CV_OVERRIDE;
void calcError(Mat &err) CV_OVERRIDE;
void calcJacobian(Mat &jac) CV_OVERRIDE;
Mat err1_, err2_;
};
/** @brief Bundle adjuster that expects affine transformation with 4 DOF
represented in homogeneous coordinates in R for each camera param. Implements
camera parameters refinement algorithm which minimizes sum of the reprojection
error squares
It estimates all transformation parameters. Refinement mask is ignored.
@sa AffineBasedEstimator AffineBestOf2NearestMatcher BundleAdjusterAffine
*/
class CV_EXPORTS BundleAdjusterAffinePartial : public BundleAdjusterBase
{
public:
BundleAdjusterAffinePartial() : BundleAdjusterBase(4, 2) {}
private:
void setUpInitialCameraParams(const std::vector<CameraParams> &cameras) CV_OVERRIDE;
void obtainRefinedCameraParams(std::vector<CameraParams> &cameras) const CV_OVERRIDE;
void calcError(Mat &err) CV_OVERRIDE;
void calcJacobian(Mat &jac) CV_OVERRIDE;
Mat err1_, err2_;
};
@ -271,4 +356,4 @@ void CV_EXPORTS findMaxSpanningTree(
} // namespace detail
} // namespace cv
#endif // __OPENCV_STITCHING_MOTION_ESTIMATORS_HPP__
#endif // OPENCV_STITCHING_MOTION_ESTIMATORS_HPP