generic-library/opencv
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Made changes in BundleAdjusterBase class to pass a termination criteria to the Levenberg–Marquardt algorithm.

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This commit is contained in:
Leonid Beynenson
2011-12-01 13:35:07 +00:00
parent d6ef0378a2
commit 0b907d088d
2 changed files with 8 additions and 1 deletions
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7
modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp
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@@ -93,6 +93,9 @@ public:
double confThresh() const { return conf_thresh_; } double confThresh() const { return conf_thresh_; }
void setConfThresh(double conf_thresh) { conf_thresh_ = conf_thresh; } void setConfThresh(double conf_thresh) { conf_thresh_ = conf_thresh; }
CvTermCriteria termCriteria() { return term_criteria_; }
void setTermCriteria(const CvTermCriteria& term_criteria) { term_criteria_ = term_criteria; }
protected: protected:
BundleAdjusterBase(int num_params_per_cam, int num_errs_per_measurement) BundleAdjusterBase(int num_params_per_cam, int num_errs_per_measurement)
: num_params_per_cam_(num_params_per_cam), : num_params_per_cam_(num_params_per_cam),
@@ -100,6 +103,7 @@ protected:
{ {
setRefinementMask(Mat::ones(3, 3, CV_8U)); setRefinementMask(Mat::ones(3, 3, CV_8U));
setConfThresh(1.); setConfThresh(1.);
setTermCriteria(cvTermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 1000, DBL_EPSILON));
} }
// Runs bundle adjustment // Runs bundle adjustment
@@ -127,6 +131,9 @@ protected:
// Threshold to filter out poorly matched image pairs // Threshold to filter out poorly matched image pairs
double conf_thresh_; double conf_thresh_;
//Levenberg–Marquardt algorithm termination criteria
CvTermCriteria term_criteria_;
// Camera parameters matrix (CV_64F) // Camera parameters matrix (CV_64F)
Mat cam_params_; Mat cam_params_;

2
modules/stitching/src/motion_estimators.cpp
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@@ -188,7 +188,7 @@ void BundleAdjusterBase::estimate(const vector<ImageFeatures> &features,
CvLevMarq solver(num_images_ * num_params_per_cam_, CvLevMarq solver(num_images_ * num_params_per_cam_,
total_num_matches_ * num_errs_per_measurement_, total_num_matches_ * num_errs_per_measurement_,
cvTermCriteria(CV_TERMCRIT_EPS + CV_TERMCRIT_ITER, 1000, DBL_EPSILON)); term_criteria_);
Mat err, jac; Mat err, jac;
CvMat matParams = cam_params_; CvMat matParams = cam_params_;