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Updated bundle adjustment in stitching module: 1) it minimizes reprojection error now, 2) it minimizes error over focal, aspect, p.p.x, p.p.y parameters. Refactored and updated warpers.

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This commit is contained in:
Alexey Spizhevoy
2011-09-16 12:25:23 +00:00
parent aebd7ebb75
commit 23636433d7
15 changed files with 377 additions and 371 deletions
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92
modules/gpu/src/cuda/imgproc.cu
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@@ -787,14 +787,14 @@ namespace cv { namespace gpu { namespace imgproc
//////////////////////////////////////////////////////////////////////////
// buildWarpMaps
// TODO use intrinsics like __sinf and so on
namespace build_warp_maps
{
__constant__ float cr[9];
__constant__ float crinv[9];
__constant__ float cf, cs;
__constant__ float chalf_w, chalf_h;
__constant__ float cdist;
__constant__ float ck_rinv[9];
__constant__ float cr_kinv[9];
__constant__ float cscale;
}
@@ -805,16 +805,16 @@ namespace cv { namespace gpu { namespace imgproc
{
using namespace build_warp_maps;
float x_ = u / cs;
float y_ = v / cs;
float x_ = u / cscale;
float y_ = v / cscale;
float z;
x = crinv[0]*x_ + crinv[1]*y_ + crinv[2]*cdist;
y = crinv[3]*x_ + crinv[4]*y_ + crinv[5]*cdist;
z = crinv[6]*x_ + crinv[7]*y_ + crinv[8]*cdist;
x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2];
y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5];
z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8];
x = cf*x/z + chalf_w;
y = cf*y/z + chalf_h;
x /= z;
y /= z;
}
};
@@ -826,18 +826,18 @@ namespace cv { namespace gpu { namespace imgproc
{
using namespace build_warp_maps;
u /= cs;
u /= cscale;
float x_ = sinf(u);
float y_ = v / cs;
float y_ = v / cscale;
float z_ = cosf(u);
float z;
x = crinv[0]*x_ + crinv[1]*y_ + crinv[2]*z_;
y = crinv[3]*x_ + crinv[4]*y_ + crinv[5]*z_;
z = crinv[6]*x_ + crinv[7]*y_ + crinv[8]*z_;
x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * z_;
y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * z_;
z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * z_;
x = cf*x/z + chalf_w;
y = cf*y/z + chalf_h;
x /= z;
y /= z;
}
};
@@ -849,8 +849,8 @@ namespace cv { namespace gpu { namespace imgproc
{
using namespace build_warp_maps;
v /= cs;
u /= cs;
v /= cscale;
u /= cscale;
float sinv = sinf(v);
float x_ = sinv * sinf(u);
@@ -858,12 +858,12 @@ namespace cv { namespace gpu { namespace imgproc
float z_ = sinv * cosf(u);
float z;
x = crinv[0]*x_ + crinv[1]*y_ + crinv[2]*z_;
y = crinv[3]*x_ + crinv[4]*y_ + crinv[5]*z_;
z = crinv[6]*x_ + crinv[7]*y_ + crinv[8]*z_;
x = ck_rinv[0] * x_ + ck_rinv[1] * y_ + ck_rinv[2] * z_;
y = ck_rinv[3] * x_ + ck_rinv[4] * y_ + ck_rinv[5] * z_;
z = ck_rinv[6] * x_ + ck_rinv[7] * y_ + ck_rinv[8] * z_;
x = cf*x/z + chalf_w;
y = cf*y/z + chalf_h;
x /= z;
y /= z;
}
};
@@ -887,16 +887,12 @@ namespace cv { namespace gpu { namespace imgproc
void buildWarpPlaneMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y,
const float r[9], const float rinv[9], float f, float s, float dist,
float half_w, float half_h, cudaStream_t stream)
const float k_rinv[9], const float r_kinv[9], float scale,
cudaStream_t stream)
{
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr, r, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::crinv, rinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cf, &f, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cs, &s, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::chalf_w, &half_w, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::chalf_h, &half_h, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cdist, &dist, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr_kinv, r_kinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cscale, &scale, sizeof(float)));
int cols = map_x.cols;
int rows = map_x.rows;
@@ -912,15 +908,12 @@ namespace cv { namespace gpu { namespace imgproc
void buildWarpCylindricalMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y,
const float r[9], const float rinv[9], float f, float s,
float half_w, float half_h, cudaStream_t stream)
const float k_rinv[9], const float r_kinv[9], float scale,
cudaStream_t stream)
{
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr, r, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::crinv, rinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cf, &f, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cs, &s, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::chalf_w, &half_w, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::chalf_h, &half_h, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr_kinv, r_kinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cscale, &scale, sizeof(float)));
int cols = map_x.cols;
int rows = map_x.rows;
@@ -936,15 +929,12 @@ namespace cv { namespace gpu { namespace imgproc
void buildWarpSphericalMaps(int tl_u, int tl_v, DevMem2Df map_x, DevMem2Df map_y,
const float r[9], const float rinv[9], float f, float s,
float half_w, float half_h, cudaStream_t stream)
const float k_rinv[9], const float r_kinv[9], float scale,
cudaStream_t stream)
{
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr, r, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::crinv, rinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cf, &f, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cs, &s, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::chalf_w, &half_w, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::chalf_h, &half_h, sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::ck_rinv, k_rinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cr_kinv, r_kinv, 9*sizeof(float)));
cudaSafeCall(cudaMemcpyToSymbol(build_warp_maps::cscale, &scale, sizeof(float)));
int cols = map_x.cols;
int rows = map_x.rows;