generic-library/opencv
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

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.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

37
modules/stitching/src/stitcher.cpp
View File

@@ -186,7 +186,7 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_)
Mat R;
cameras[i].R.convertTo(R, CV_32F);
cameras[i].R = R;
LOGLN("Initial focal length #" << indices[i]+1 << ": " << cameras[i].focal);
LOGLN("Initial intrinsic parameters #" << indices[i]+1 << ":\n " << cameras[i].K());
}
detail::BundleAdjuster adjuster(detail::BundleAdjuster::FOCAL_RAY_SPACE, conf_thresh_);
@@ -196,7 +196,7 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_)
vector<double> focals;
for (size_t i = 0; i < cameras.size(); ++i)
{
LOGLN("Camera #" << indices[i]+1 << " focal length: " << cameras[i].focal);
LOGLN("Camera #" << indices[i]+1 << ":\n" << cameras[i].K());
focals.push_back(cameras[i].focal);
}
nth_element(focals.begin(), focals.begin() + focals.size()/2, focals.end());
@@ -229,14 +229,18 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_)
}
// Warp images and their masks
Ptr<detail::Warper> warper = warper_->createByFocalLength(warped_image_scale * seam_work_aspect);
Ptr<detail::Warper> warper = warper_->create(warped_image_scale * seam_work_aspect);
for (int i = 0; i < num_imgs; ++i)
{
corners[i] = warper->warp(seam_est_imgs[i], static_cast<float>(cameras[i].focal * seam_work_aspect),
cameras[i].R, images_warped[i]);
Mat_<float> K;
cameras[i].K().convertTo(K, CV_32F);
K(0,0) *= seam_work_aspect; K(0,2) *= seam_work_aspect;
K(1,1) *= seam_work_aspect; K(1,2) *= seam_work_aspect;
corners[i] = warper->warp(seam_est_imgs[i], K, cameras[i].R, images_warped[i]);
sizes[i] = images_warped[i].size();
warper->warp(masks[i], static_cast<float>(cameras[i].focal * seam_work_aspect),
cameras[i].R, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT);
warper->warp(masks[i], K, cameras[i].R, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT);
}
vector<Mat> images_warped_f(num_imgs);
@@ -281,13 +285,15 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_)
// Update warped image scale
warped_image_scale *= static_cast<float>(compose_work_aspect);
warper = warper_->createByFocalLength(warped_image_scale);
warper = warper_->create(warped_image_scale);
// Update corners and sizes
for (int i = 0; i < num_imgs; ++i)
{
// Update camera focal
// Update intrinsics
cameras[i].focal *= compose_work_aspect;
cameras[i].ppx *= compose_work_aspect;
cameras[i].ppy *= compose_work_aspect;
// Update corner and size
Size sz = full_img_sizes[i];
@@ -297,7 +303,9 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_)
sz.height = cvRound(full_img_sizes[i].height * compose_scale);
}
Rect roi = warper->warpRoi(sz, static_cast<float>(cameras[i].focal), cameras[i].R);
Mat K;
cameras[i].K().convertTo(K, CV_32F);
Rect roi = warper->warpRoi(sz, K, cameras[i].R);
corners[i] = roi.tl();
sizes[i] = roi.size();
}
@@ -309,15 +317,16 @@ Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_)
full_img.release();
Size img_size = img.size();
Mat K;
cameras[img_idx].K().convertTo(K, CV_32F);
// Warp the current image
warper->warp(img, static_cast<float>(cameras[img_idx].focal), cameras[img_idx].R,
img_warped);
warper->warp(img, K, cameras[img_idx].R, img_warped);
// Warp the current image mask
mask.create(img_size, CV_8U);
mask.setTo(Scalar::all(255));
warper->warp(mask, static_cast<float>(cameras[img_idx].focal), cameras[img_idx].R, mask_warped,
INTER_NEAREST, BORDER_CONSTANT);
warper->warp(mask, K, cameras[img_idx].R, mask_warped, INTER_NEAREST, BORDER_CONSTANT);
// Compensate exposure
exposure_comp_->apply(img_idx, corners[img_idx], img_warped, mask_warped);