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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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4
modules/stitching/include/opencv2/stitching/detail/camera.hpp
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@@ -53,8 +53,12 @@ struct CV_EXPORTS CameraParams
CameraParams();
CameraParams(const CameraParams& other);
const CameraParams& operator =(const CameraParams& other);
Mat K() const;
double focal; // Focal length
double aspect; // Aspect ratio
double ppx; // Principal point X
double ppy; // Principal point Y
Mat R; // Rotation
Mat t; // Translation
};

6
modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp
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@@ -58,9 +58,7 @@ public:
void operator ()(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches,
std::vector<CameraParams> &cameras)
{
estimate(features, pairwise_matches, cameras);
}
{ estimate(features, pairwise_matches, cameras); }
protected:
virtual void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches,
@@ -90,6 +88,8 @@ public:
BundleAdjuster(int cost_space = FOCAL_RAY_SPACE, float conf_thresh = 1.f)
: cost_space_(cost_space), conf_thresh_(conf_thresh) {}
Mat K;
private:
void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches,
std::vector<CameraParams> &cameras);

54
modules/stitching/include/opencv2/stitching/detail/warpers.hpp
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@@ -55,27 +55,22 @@ namespace detail {
class CV_EXPORTS Warper
{
public:
enum { PLANE, CYLINDRICAL, SPHERICAL };
// TODO remove this method
static Ptr<Warper> createByCameraFocal(float focal, int type, bool try_gpu = false);
virtual ~Warper() {}
virtual Point warp(const Mat &src, float focal, const Mat& R, Mat &dst,
virtual Point warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode = INTER_LINEAR, int border_mode = BORDER_REFLECT) = 0;
virtual Rect warpRoi(const Size &sz, float focal, const Mat &R) = 0;
virtual Rect warpRoi(const Size &sz, const Mat &K, const Mat &R) = 0;
};
struct CV_EXPORTS ProjectorBase
{
void setTransformation(const Mat& R);
void setCameraParams(const Mat &K, const Mat &R);
Size size;
float focal;
float r[9];
float rinv[9];
float scale;
float k[9];
float rinv[9];
float r_kinv[9];
float k_rinv[9];
};
@@ -83,10 +78,10 @@ template <class P>
class CV_EXPORTS WarperBase : public Warper
{
public:
virtual Point warp(const Mat &src, float focal, const Mat &R, Mat &dst,
virtual Point warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode);
virtual Rect warpRoi(const Size &sz, float focal, const Mat &R);
virtual Rect warpRoi(const Size &sz, const Mat &K, const Mat &R);
protected:
// Detects ROI of the destination image. It's correct for any projection.
@@ -105,7 +100,6 @@ struct CV_EXPORTS PlaneProjector : ProjectorBase
{
void mapForward(float x, float y, float &u, float &v);
void mapBackward(float u, float v, float &x, float &y);
float plane_dist;
};
@@ -113,11 +107,7 @@ struct CV_EXPORTS PlaneProjector : ProjectorBase
class CV_EXPORTS PlaneWarper : public WarperBase<PlaneProjector>
{
public:
PlaneWarper(float plane_dist = 1.f, float scale = 1.f)
{
projector_.plane_dist = plane_dist;
projector_.scale = scale;
}
PlaneWarper(float scale = 1.f) { projector_.scale = scale; }
protected:
void detectResultRoi(Point &dst_tl, Point &dst_br);
@@ -127,8 +117,8 @@ protected:
class CV_EXPORTS PlaneWarperGpu : public PlaneWarper
{
public:
PlaneWarperGpu(float plane_dist = 1.f, float scale = 1.f) : PlaneWarper(plane_dist, scale) {}
Point warp(const Mat &src, float focal, const Mat &R, Mat &dst,
PlaneWarperGpu(float scale = 1.f) : PlaneWarper(scale) {}
Point warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode);
private:
@@ -149,7 +139,7 @@ struct CV_EXPORTS SphericalProjector : ProjectorBase
class CV_EXPORTS SphericalWarper : public WarperBase<SphericalProjector>
{
public:
SphericalWarper(float scale = 300.f) { projector_.scale = scale; }
SphericalWarper(float scale) { projector_.scale = scale; }
protected:
void detectResultRoi(Point &dst_tl, Point &dst_br);
@@ -160,9 +150,9 @@ protected:
class CV_EXPORTS SphericalWarperGpu : public SphericalWarper
{
public:
SphericalWarperGpu(float scale = 300.f) : SphericalWarper(scale) {}
Point warp(const Mat &src, float focal, const Mat &R, Mat &dst,
int interp_mode, int border_mode);
SphericalWarperGpu(float scale) : SphericalWarper(scale) {}
Point warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode);
private:
gpu::GpuMat d_xmap_, d_ymap_, d_dst_, d_src_;
@@ -181,13 +171,11 @@ struct CV_EXPORTS CylindricalProjector : ProjectorBase
class CV_EXPORTS CylindricalWarper : public WarperBase<CylindricalProjector>
{
public:
CylindricalWarper(float scale = 300.f) { projector_.scale = scale; }
CylindricalWarper(float scale) { projector_.scale = scale; }
protected:
void detectResultRoi(Point &dst_tl, Point &dst_br)
{
WarperBase<CylindricalProjector>::detectResultRoiByBorder(dst_tl, dst_br);
}
{ WarperBase<CylindricalProjector>::detectResultRoiByBorder(dst_tl, dst_br); }
};
@@ -195,9 +183,9 @@ protected:
class CV_EXPORTS CylindricalWarperGpu : public CylindricalWarper
{
public:
CylindricalWarperGpu(float scale = 300.f) : CylindricalWarper(scale) {}
Point warp(const Mat &src, float focal, const Mat &R, Mat &dst,
int interp_mode, int border_mode);
CylindricalWarperGpu(float scale) : CylindricalWarper(scale) {}
Point warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode);
private:
gpu::GpuMat d_xmap_, d_ymap_, d_dst_, d_src_;

101
modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp
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@@ -50,14 +50,11 @@ namespace cv {
namespace detail {
template <class P>
Point WarperBase<P>::warp(const Mat &src, float focal, const Mat &R, Mat &dst,
Point WarperBase<P>::warp(const Mat &src, const Mat &K, const Mat &R, Mat &dst,
int interp_mode, int border_mode)
{
src_size_ = src.size();
projector_.size = src.size();
projector_.focal = focal;
projector_.setTransformation(R);
projector_.setCameraParams(K, R);
Point dst_tl, dst_br;
detectResultRoi(dst_tl, dst_br);
@@ -84,13 +81,10 @@ Point WarperBase<P>::warp(const Mat &src, float focal, const Mat &R, Mat &dst,
template <class P>
Rect WarperBase<P>::warpRoi(const Size &sz, float focal, const Mat &R)
Rect WarperBase<P>::warpRoi(const Size &sz, const Mat &K, const Mat &R)
{
src_size_ = sz;
projector_.size = sz;
projector_.focal = focal;
projector_.setTransformation(R);
projector_.setCameraParams(K, R);
Point dst_tl, dst_br;
detectResultRoi(dst_tl, dst_br);
@@ -165,43 +159,37 @@ void WarperBase<P>::detectResultRoiByBorder(Point &dst_tl, Point &dst_br)
inline
void PlaneProjector::mapForward(float x, float y, float &u, float &v)
{
x -= size.width * 0.5f;
y -= size.height * 0.5f;
float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
float x_ = r[0] * x + r[1] * y + r[2] * focal;
float y_ = r[3] * x + r[4] * y + r[5] * focal;
float z_ = r[6] * x + r[7] * y + r[8] * focal;
u = scale * x_ / z_ * plane_dist;
v = scale * y_ / z_ * plane_dist;
u = scale * x_ / z_;
v = scale * y_ / z_;
}
inline
void PlaneProjector::mapBackward(float u, float v, float &x, float &y)
{
float x_ = u / scale;
float y_ = v / scale;
u /= scale;
v /= scale;
float z;
x = rinv[0] * x_ + rinv[1] * y_ + rinv[2] * plane_dist;
y = rinv[3] * x_ + rinv[4] * y_ + rinv[5] * plane_dist;
z = rinv[6] * x_ + rinv[7] * y_ + rinv[8] * plane_dist;
x = k_rinv[0] * u + k_rinv[1] * v + k_rinv[2];
y = k_rinv[3] * u + k_rinv[4] * v + k_rinv[5];
z = k_rinv[6] * u + k_rinv[7] * v + k_rinv[8];
x = focal * x / z + size.width * 0.5f;
y = focal * y / z + size.height * 0.5f;
x /= z;
y /= z;
}
inline
void SphericalProjector::mapForward(float x, float y, float &u, float &v)
{
x -= size.width * 0.5f;
y -= size.height * 0.5f;
float x_ = r[0] * x + r[1] * y + r[2] * focal;
float y_ = r[3] * x + r[4] * y + r[5] * focal;
float z_ = r[6] * x + r[7] * y + r[8] * focal;
{
float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
u = scale * atan2f(x_, z_);
v = scale * (static_cast<float>(CV_PI) - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_)));
@@ -211,30 +199,30 @@ void SphericalProjector::mapForward(float x, float y, float &u, float &v)
inline
void SphericalProjector::mapBackward(float u, float v, float &x, float &y)
{
float sinv = sinf(static_cast<float>(CV_PI) - v / scale);
float x_ = sinv * sinf(u / scale);
float y_ = cosf(static_cast<float>(CV_PI) - v / scale);
float z_ = sinv * cosf(u / scale);
u /= scale;
v /= scale;
float sinv = sinf(static_cast<float>(CV_PI) - v);
float x_ = sinv * sinf(u);
float y_ = cosf(static_cast<float>(CV_PI) - v);
float z_ = sinv * cosf(u);
float z;
x = rinv[0] * x_ + rinv[1] * y_ + rinv[2] * z_;
y = rinv[3] * x_ + rinv[4] * y_ + rinv[5] * z_;
z = rinv[6] * x_ + rinv[7] * y_ + rinv[8] * z_;
x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
x = focal * x / z + size.width * 0.5f;
y = focal * y / z + size.height * 0.5f;
x /= z;
y /= z;
}
inline
void CylindricalProjector::mapForward(float x, float y, float &u, float &v)
{
x -= size.width * 0.5f;
y -= size.height * 0.5f;
float x_ = r[0] * x + r[1] * y + r[2] * focal;
float y_ = r[3] * x + r[4] * y + r[5] * focal;
float z_ = r[6] * x + r[7] * y + r[8] * focal;
float x_ = r_kinv[0] * x + r_kinv[1] * y + r_kinv[2];
float y_ = r_kinv[3] * x + r_kinv[4] * y + r_kinv[5];
float z_ = r_kinv[6] * x + r_kinv[7] * y + r_kinv[8];
u = scale * atan2f(x_, z_);
v = scale * y_ / sqrtf(x_ * x_ + z_ * z_);
@@ -244,17 +232,20 @@ void CylindricalProjector::mapForward(float x, float y, float &u, float &v)
inline
void CylindricalProjector::mapBackward(float u, float v, float &x, float &y)
{
float x_ = sinf(u / scale);
float y_ = v / scale;
float z_ = cosf(u / scale);
u /= scale;
v /= scale;
float x_ = sinf(u);
float y_ = v;
float z_ = cosf(u);
float z;
x = rinv[0] * x_ + rinv[1] * y_ + rinv[2] * z_;
y = rinv[3] * x_ + rinv[4] * y_ + rinv[5] * z_;
z = rinv[6] * x_ + rinv[7] * y_ + rinv[8] * z_;
x = k_rinv[0] * x_ + k_rinv[1] * y_ + k_rinv[2] * z_;
y = k_rinv[3] * x_ + k_rinv[4] * y_ + k_rinv[5] * z_;
z = k_rinv[6] * x_ + k_rinv[7] * y_ + k_rinv[8] * z_;
x = focal * x / z + size.width * 0.5f;
y = focal * y / z + size.height * 0.5f;
x /= z;
y /= z;
}
} // namespace detail

14
modules/stitching/include/opencv2/stitching/warpers.hpp
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@@ -51,28 +51,28 @@ class WarperCreator
{
public:
virtual ~WarperCreator() {}
virtual Ptr<detail::Warper> createByFocalLength(double f) const = 0;
virtual Ptr<detail::Warper> create(float scale) const = 0;
};
class PlaneWarper : public WarperCreator
{
public:
Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::PlaneWarper(f); }
Ptr<detail::Warper> create(float scale) const { return new detail::PlaneWarper(scale); }
};
class CylindricalWarper: public WarperCreator
{
public:
Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::CylindricalWarper(f); }
Ptr<detail::Warper> create(float scale) const { return new detail::CylindricalWarper(scale); }
};
class SphericalWarper: public WarperCreator
{
public:
Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::SphericalWarper(f); }
Ptr<detail::Warper> create(float scale) const { return new detail::SphericalWarper(scale); }
};
@@ -80,21 +80,21 @@ public:
class PlaneWarperGpu: public WarperCreator
{
public:
Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::PlaneWarperGpu(f); }
Ptr<detail::Warper> create(float scale) const { return new detail::PlaneWarperGpu(scale); }
};
class CylindricalWarperGpu: public WarperCreator
{
public:
Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::CylindricalWarperGpu(f); }
Ptr<detail::Warper> create(float scale) const { return new detail::CylindricalWarperGpu(scale); }
};
class SphericalWarperGpu: public WarperCreator
{
public:
Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::SphericalWarperGpu(f); }
Ptr<detail::Warper> create(float scale) const { return new detail::SphericalWarperGpu(scale); }
};
#endif