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refactored opencv_stitching

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This commit is contained in:
Alexey Spizhevoy
2011-05-20 08:08:55 +00:00
parent 5b50d63754
commit 2de0e1fc66
7 changed files with 142 additions and 181 deletions
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34
modules/stitching/motion_estimators.cpp
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@@ -64,13 +64,13 @@ struct CalcRotation
};
void HomographyBasedEstimator::estimate(const vector<Mat> &images, const vector<ImageFeatures> &features,
const vector<MatchesInfo> &pairwise_matches, vector<CameraParams> &cameras)
void HomographyBasedEstimator::estimate(const vector<ImageFeatures> &features, const vector<MatchesInfo> &pairwise_matches,
vector<CameraParams> &cameras)
{
const int num_images = static_cast<int>(images.size());
const int num_images = static_cast<int>(features.size());
// Estimate focal length and set it for all cameras
double focal = estimateFocal(images, features, pairwise_matches);
double focal = estimateFocal(features, pairwise_matches);
cameras.resize(num_images);
for (int i = 0; i < num_images; ++i)
cameras[i].focal = focal;
@@ -85,11 +85,10 @@ void HomographyBasedEstimator::estimate(const vector<Mat> &images, const vector<
//////////////////////////////////////////////////////////////////////////////
void BundleAdjuster::estimate(const vector<Mat> &images, const vector<ImageFeatures> &features,
const vector<MatchesInfo> &pairwise_matches, vector<CameraParams> &cameras)
void BundleAdjuster::estimate(const vector<ImageFeatures> &features, const vector<MatchesInfo> &pairwise_matches,
vector<CameraParams> &cameras)
{
num_images_ = static_cast<int>(images.size());
images_ = &images[0];
num_images_ = static_cast<int>(features.size());
features_ = &features[0];
pairwise_matches_ = &pairwise_matches[0];
@@ -227,11 +226,11 @@ void BundleAdjuster::calcError(Mat &err)
const DMatch& m = matches_info.matches[k];
Point2d kp1 = features1.keypoints[m.queryIdx].pt;
kp1.x -= 0.5 * images_[i].cols;
kp1.y -= 0.5 * images_[i].rows;
kp1.x -= 0.5 * features1.img_size.width;
kp1.y -= 0.5 * features1.img_size.height;
Point2d kp2 = features2.keypoints[m.trainIdx].pt;
kp2.x -= 0.5 * images_[j].cols;
kp2.y -= 0.5 * images_[j].rows;
kp2.x -= 0.5 * features2.img_size.width;
kp2.y -= 0.5 * features2.img_size.height;
double len1 = sqrt(kp1.x * kp1.x + kp1.y * kp1.y + f1 * f1);
double len2 = sqrt(kp2.x * kp2.x + kp2.y * kp2.y + f2 * f2);
Point3d p1(kp1.x / len1, kp1.y / len1, f1 / len1);
@@ -346,10 +345,10 @@ void waveCorrect(vector<Mat> &rmats)
//////////////////////////////////////////////////////////////////////////////
vector<int> leaveBiggestComponent(vector<Mat> &images, vector<ImageFeatures> &features,
vector<MatchesInfo> &pairwise_matches, float conf_threshold)
vector<int> leaveBiggestComponent(vector<ImageFeatures> &features, vector<MatchesInfo> &pairwise_matches,
float conf_threshold)
{
const int num_images = static_cast<int>(images.size());
const int num_images = static_cast<int>(features.size());
DjSets comps(num_images);
for (int i = 0; i < num_images; ++i)
@@ -375,12 +374,10 @@ vector<int> leaveBiggestComponent(vector<Mat> &images, vector<ImageFeatures> &fe
else
indices_removed.push_back(i);
vector<Mat> images_subset;
vector<ImageFeatures> features_subset;
vector<MatchesInfo> pairwise_matches_subset;
for (size_t i = 0; i < indices.size(); ++i)
{
images_subset.push_back(images[indices[i]]);
features_subset.push_back(features[indices[i]]);
for (size_t j = 0; j < indices.size(); ++j)
{
@@ -390,7 +387,7 @@ vector<int> leaveBiggestComponent(vector<Mat> &images, vector<ImageFeatures> &fe
}
}
if (static_cast<int>(images_subset.size()) == num_images)
if (static_cast<int>(features_subset.size()) == num_images)
return indices;
LOG("Removed some images, because can't match them: (");
@@ -398,7 +395,6 @@ vector<int> leaveBiggestComponent(vector<Mat> &images, vector<ImageFeatures> &fe
for (size_t i = 1; i < indices_removed.size(); ++i) LOG(", " << indices_removed[i]);
LOGLN(")");
images = images_subset;
features = features_subset;
pairwise_matches = pairwise_matches_subset;