opencv_stitching refactoring
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@ -1,5 +1,5 @@
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#ifndef _OPENCV_BLENDERS_HPP_
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#define _OPENCV_BLENDERS_HPP_
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#ifndef __OPENCV_BLENDERS_HPP__
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#define __OPENCV_BLENDERS_HPP__
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#include <vector>
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#include <opencv2/core/core.hpp>
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@ -68,4 +68,4 @@ void createLaplacePyr(const std::vector<cv::Mat>& pyr_gauss, std::vector<cv::Mat
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// Restores source image in-place. Result will be in pyr[0].
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void restoreImageFromLaplacePyr(std::vector<cv::Mat>& pyr);
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#endif // _OPENCV_BLENDERS_HPP_
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#endif // __OPENCV_BLENDERS_HPP__
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@ -1,5 +1,5 @@
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#ifndef _OPENCV_FOCAL_ESTIMATORS_HPP_
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#define _OPENCV_FOCAL_ESTIMATORS_HPP_
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#ifndef __OPENCV_FOCAL_ESTIMATORS_HPP__
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#define __OPENCV_FOCAL_ESTIMATORS_HPP__
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#include <opencv2/core/core.hpp>
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@ -9,4 +9,4 @@ void focalsFromHomography(const cv::Mat &H, double &f0, double &f1, bool &f0_ok,
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bool focalsFromFundamental(const cv::Mat &F, double &f0, double &f1);
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#endif // _OPENCV_FOCAL_ESTIMATORS_HPP_
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#endif // __OPENCV_FOCAL_ESTIMATORS_HPP__
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@ -9,10 +9,10 @@
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using namespace std;
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using namespace cv;
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void printHelp()
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void printUsage()
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{
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cout << "Rotation model stitcher.\n"
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<< "Usage: stitch img1 img2 [...imgN]\n"
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cout << "Rotation model images stitcher.\n"
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<< "Usage: opencv_stitching img1 img2 [...imgN]\n"
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<< "\t[--matchconf <0.0-1.0>]\n"
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<< "\t[--ba (ray_space|focal_ray_space)]\n"
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<< "\t[--warp (plane|cylindrical|spherical)]\n"
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@ -30,13 +30,13 @@ int main(int argc, char* argv[])
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int ba_space = BundleAdjuster::RAY_SPACE;
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int warp_type = Warper::SPHERICAL;
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bool user_match_conf = false;
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float match_conf;
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float match_conf = 0.55f;
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int seam_find_type = SeamFinder::GRAPH_CUT;
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int blend_type = Blender::MULTI_BAND;
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if (argc == 1)
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{
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printHelp();
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printUsage();
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return 0;
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}
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@ -172,7 +172,7 @@ int main(int argc, char* argv[])
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focals.push_back(cameras[i].focal);
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}
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nth_element(focals.begin(), focals.end(), focals.begin() + focals.size() / 2);
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float camera_focal = focals[focals.size() / 2];
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float camera_focal = static_cast<float>(focals[focals.size() / 2]);
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vector<Mat> masks(num_images);
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for (int i = 0; i < num_images; ++i)
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@ -189,8 +189,8 @@ int main(int argc, char* argv[])
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Ptr<Warper> warper = Warper::createByCameraFocal(camera_focal, warp_type);
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for (int i = 0; i < num_images; ++i)
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{
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corners[i] = (*warper)(images[i], cameras[i].focal, cameras[i].M, images_warped[i]);
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(*warper)(masks[i], cameras[i].focal, cameras[i].M, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT);
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corners[i] = (*warper)(images[i], static_cast<float>(cameras[i].focal), cameras[i].M, images_warped[i]);
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(*warper)(masks[i], static_cast<float>(cameras[i].focal), cameras[i].M, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT);
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}
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vector<Mat> images_f(num_images);
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for (int i = 0; i < num_images; ++i)
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@ -242,8 +242,8 @@ namespace
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const DMatch& m0 = pair_matches[i][0];
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const DMatch& m1 = pair_matches[i][1];
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CV_Assert(m0.queryIdx < features1.keypoints.size());
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CV_Assert(m0.trainIdx < features2.keypoints.size());
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CV_Assert(m0.queryIdx < static_cast<int>(features1.keypoints.size()));
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CV_Assert(m0.trainIdx < static_cast<int>(features2.keypoints.size()));
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if (m0.distance < (1.f - match_conf_) * m1.distance)
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matches_info.matches.push_back(m0);
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@ -260,8 +260,8 @@ namespace
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const DMatch& m0 = pair_matches[i][0];
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const DMatch& m1 = pair_matches[i][1];
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CV_Assert(m0.trainIdx < features1.keypoints.size());
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CV_Assert(m0.queryIdx < features2.keypoints.size());
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CV_Assert(m0.trainIdx < static_cast<int>(features1.keypoints.size()));
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CV_Assert(m0.queryIdx < static_cast<int>(features2.keypoints.size()));
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if (m0.distance < (1.f - match_conf_) * m1.distance)
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matches_info.matches.push_back(DMatch(m0.trainIdx, m0.queryIdx, m0.distance));
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@ -416,7 +416,7 @@ struct CalcRotation
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};
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void HomographyBasedEstimator::estimate(const vector<Mat> &images, const vector<ImageFeatures> &features,
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void HomographyBasedEstimator::estimate(const vector<Mat> &images, const vector<ImageFeatures> &/*features*/,
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const vector<MatchesInfo> &pairwise_matches, vector<CameraParams> &cameras)
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{
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const int num_images = static_cast<int>(images.size());
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@ -514,7 +514,6 @@ void BundleAdjuster::estimate(const vector<Mat> &images, const vector<ImageFeatu
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cvCopy(&matParams, solver.param);
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int count = 0;
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double last_err = numeric_limits<double>::max();
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for(;;)
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{
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const CvMat* _param = 0;
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@ -580,8 +579,8 @@ void BundleAdjuster::calcError(Mat &err)
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{
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int i = edges_[edge_idx].first;
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int j = edges_[edge_idx].second;
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float f1 = static_cast<float>(cameras_.at<double>(i * 4, 0));
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float f2 = static_cast<float>(cameras_.at<double>(j * 4, 0));
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double f1 = cameras_.at<double>(i * 4, 0);
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double f2 = cameras_.at<double>(j * 4, 0);
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double R1[9], R2[9];
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Mat R1_(3, 3, CV_64F, R1), R2_(3, 3, CV_64F, R2);
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Mat rvec(3, 1, CV_64F);
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@ -602,25 +601,25 @@ void BundleAdjuster::calcError(Mat &err)
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{
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const DMatch& m = matches_info.matches[k];
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Point2f kp1 = features1.keypoints[m.queryIdx].pt;
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kp1.x -= 0.5f * images_[i].cols;
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kp1.y -= 0.5f * images_[i].rows;
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Point2f kp2 = features2.keypoints[m.trainIdx].pt;
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kp2.x -= 0.5f * images_[j].cols;
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kp2.y -= 0.5f * images_[j].rows;
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float len1 = sqrt(kp1.x * kp1.x + kp1.y * kp1.y + f1 * f1);
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float len2 = sqrt(kp2.x * kp2.x + kp2.y * kp2.y + f2 * f2);
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Point3f p1(kp1.x / len1, kp1.y / len1, f1 / len1);
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Point3f p2(kp2.x / len2, kp2.y / len2, f2 / len2);
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Point2d kp1 = features1.keypoints[m.queryIdx].pt;
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kp1.x -= 0.5 * images_[i].cols;
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kp1.y -= 0.5 * images_[i].rows;
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Point2d kp2 = features2.keypoints[m.trainIdx].pt;
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kp2.x -= 0.5 * images_[j].cols;
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kp2.y -= 0.5 * images_[j].rows;
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double len1 = sqrt(kp1.x * kp1.x + kp1.y * kp1.y + f1 * f1);
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double len2 = sqrt(kp2.x * kp2.x + kp2.y * kp2.y + f2 * f2);
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Point3d p1(kp1.x / len1, kp1.y / len1, f1 / len1);
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Point3d p2(kp2.x / len2, kp2.y / len2, f2 / len2);
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Point3f d1(p1.x * R1[0] + p1.y * R1[1] + p1.z * R1[2],
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Point3d d1(p1.x * R1[0] + p1.y * R1[1] + p1.z * R1[2],
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p1.x * R1[3] + p1.y * R1[4] + p1.z * R1[5],
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p1.x * R1[6] + p1.y * R1[7] + p1.z * R1[8]);
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Point3f d2(p2.x * R2[0] + p2.y * R2[1] + p2.z * R2[2],
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Point3d d2(p2.x * R2[0] + p2.y * R2[1] + p2.z * R2[2],
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p2.x * R2[3] + p2.y * R2[4] + p2.z * R2[5],
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p2.x * R2[6] + p2.y * R2[7] + p2.z * R2[8]);
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float mult = 1.f;
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double mult = 1;
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if (cost_space_ == FOCAL_RAY_SPACE)
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mult = sqrt(f1 * f2);
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err.at<double>(3 * match_idx, 0) = mult * (d1.x - d2.x);
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#ifndef _OPENCV_MOTION_ESTIMATORS_HPP_
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#define _OPENCV_MOTION_ESTIMATORS_HPP_
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#ifndef __OPENCV_MOTION_ESTIMATORS_HPP__
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#define __OPENCV_MOTION_ESTIMATORS_HPP__
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#include <vector>
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#include <opencv2/core/core.hpp>
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@ -154,4 +154,4 @@ private:
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void findMaxSpanningTree(int num_images, const std::vector<MatchesInfo> &pairwise_matches,
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Graph &span_tree, std::vector<int> ¢ers);
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#endif // _OPENCV_MOTION_ESTIMATORS_HPP_
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#endif // __OPENCV_MOTION_ESTIMATORS_HPP__
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#ifndef _OPENCV_SEAM_FINDERS_HPP_
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#define _OPENCV_SEAM_FINDERS_HPP_
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#ifndef __OPENCV_SEAM_FINDERS_HPP__
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#define __OPENCV_SEAM_FINDERS_HPP__
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#include <vector>
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#include <opencv2/core/core.hpp>
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@ -65,4 +65,4 @@ private:
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cv::Ptr<Impl> impl_;
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};
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#endif // _OPENCV_SEAM_FINDERS_HPP_
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#endif // __OPENCV_SEAM_FINDERS_HPP__
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#ifndef _OPENCV_STITCHING_UTIL_HPP_
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#define _OPENCV_STITCHING_UTIL_HPP_
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#ifndef __OPENCV_STITCHING_UTIL_HPP__
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#define __OPENCV_STITCHING_UTIL_HPP__
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#include <vector>
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#include <list>
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#include "util_inl.hpp"
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#endif // _OPENCV_STITCHING_UTIL_HPP_
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#endif // __OPENCV_STITCHING_UTIL_HPP__
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#ifndef _OPENCV_STITCHING_UTIL_INL_HPP_
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#define _OPENCV_STITCHING_UTIL_INL_HPP_
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#ifndef __OPENCV_STITCHING_UTIL_INL_HPP__
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#define __OPENCV_STITCHING_UTIL_INL_HPP__
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#include <queue>
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#include "util.hpp" // Make your IDE see declarations
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@ -71,4 +71,4 @@ T sqr(T x)
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return x * x;
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}
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#endif // _OPENCV_STITCHING_UTIL_INL_HPP_
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#endif // __OPENCV_STITCHING_UTIL_INL_HPP__
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using namespace std;
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using namespace cv;
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Ptr<Warper> Warper::createByCameraFocal(int focal, int type)
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Ptr<Warper> Warper::createByCameraFocal(float focal, int type)
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{
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if (type == PLANE)
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return new PlaneWarper(focal);
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#ifndef _OPENCV_WARPERS_HPP_
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#define _OPENCV_WARPERS_HPP_
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#ifndef __OPENCV_WARPERS_HPP__
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#define __OPENCV_WARPERS_HPP__
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#include <opencv2/core/core.hpp>
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#include <opencv2/imgproc/imgproc.hpp>
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@ -9,7 +9,7 @@ class Warper
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public:
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enum { PLANE, CYLINDRICAL, SPHERICAL };
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static cv::Ptr<Warper> createByCameraFocal(int focal, int type);
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static cv::Ptr<Warper> createByCameraFocal(float focal, int type);
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virtual ~Warper() {}
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@ -118,4 +118,4 @@ private:
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#include "warpers_inl.hpp"
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#endif // _OPENCV_WARPERS_HPP_
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#endif // __OPENCV_WARPERS_HPP__
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#ifndef _OPENCV_WARPERS_INL_HPP_
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#define _OPENCV_WARPERS_INL_HPP_
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#ifndef __OPENCV_WARPERS_INL_HPP__
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#define __OPENCV_WARPERS_INL_HPP__
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#include "warpers.hpp" // Make your IDE see declarations
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@ -195,4 +195,4 @@ void CylindricalProjector::mapBackward(float u, float v, float &x, float &y)
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y = focal * y / z + size.height * 0.5f;
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}
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#endif // _OPENCV_WARPERS_INL_HPP_
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#endif // __OPENCV_WARPERS_INL_HPP__
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