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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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76
samples/cpp/stitching_detailed.cpp
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@@ -42,6 +42,7 @@
//M*/
#include <fstream>
#include <string>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/stitching/detail/autocalib.hpp"
#include "opencv2/stitching/detail/blenders.hpp"
@@ -52,6 +53,7 @@
#include "opencv2/stitching/detail/seam_finders.hpp"
#include "opencv2/stitching/detail/util.hpp"
#include "opencv2/stitching/detail/warpers.hpp"
#include "opencv2/stitching/warpers.hpp"
using namespace std;
using namespace cv;
@@ -118,7 +120,7 @@ float conf_thresh = 1.f;
bool wave_correct = true;
bool save_graph = false;
std::string save_graph_to;
int warp_type = Warper::SPHERICAL;
string warp_type = "spherical";
int expos_comp_type = ExposureCompensator::GAIN_BLOCKS;
float match_conf = 0.65f;
int seam_find_type = SeamFinder::GC_COLOR;
@@ -223,17 +225,7 @@ int parseCmdArgs(int argc, char** argv)
}
else if (string(argv[i]) == "--warp")
{
if (string(argv[i + 1]) == "plane")
warp_type = Warper::PLANE;
else if (string(argv[i + 1]) == "cylindrical")
warp_type = Warper::CYLINDRICAL;
else if (string(argv[i + 1]) == "spherical")
warp_type = Warper::SPHERICAL;
else
{
cout << "Bad warping method\n";
return -1;
}
warp_type = string(argv[i + 1]);
i++;
}
else if (string(argv[i]) == "--expos_comp")
@@ -479,15 +471,42 @@ int main(int argc, char* argv[])
}
// Warp images and their masks
Ptr<Warper> warper = Warper::createByCameraFocal(static_cast<float>(warped_image_scale * seam_work_aspect),
warp_type, try_gpu);
Ptr<WarperCreator> warper_creator;
#ifndef ANDROID
if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
{
if (warp_type == "plane") warper_creator = new cv::PlaneWarper();
else if (warp_type == "cylindrical") warper_creator = new cv::CylindricalWarper();
else if (warp_type == "spherical") warper_creator = new cv::SphericalWarper();
}
else
#endif
{
if (warp_type == "plane") warper_creator = new cv::PlaneWarperGpu();
else if (warp_type == "cylindrical") warper_creator = new cv::CylindricalWarperGpu();
else if (warp_type == "spherical") warper_creator = new cv::SphericalWarperGpu();
}
if (warper_creator.empty())
{
cout << "Can't create the following warper '" << warp_type << "'\n";
return 1;
}
Ptr<Warper> warper = warper_creator->create(static_cast<float>(warped_image_scale * seam_work_aspect));
for (int i = 0; i < num_images; ++i)
{
corners[i] = warper->warp(images[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(images[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_images);
@@ -535,23 +554,27 @@ int main(int argc, char* argv[])
// Update warped image scale
warped_image_scale *= static_cast<float>(compose_work_aspect);
warper = Warper::createByCameraFocal(warped_image_scale, warp_type, try_gpu);
warper = warper_creator->create(warped_image_scale);
// Update corners and sizes
for (int i = 0; i < num_images; ++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];
if (abs(compose_scale - 1) > 1e-1)
if (std::abs(compose_scale - 1) > 1e-1)
{
sz.width = cvRound(full_img_sizes[i].width * compose_scale);
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();
}
@@ -563,15 +586,16 @@ int main(int argc, char* argv[])
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
compensator->apply(img_idx, corners[img_idx], img_warped, mask_warped);