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include/opencv2/videostab/motion_core.hpp

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+/*M///////////////////////////////////////////////////////////////////////////////////////
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+//                For Open Source Computer Vision Library
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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