diff --git a/modules/stitching/include/opencv2/stitching.hpp b/modules/stitching/include/opencv2/stitching.hpp
index 3ccd2878a..2c48f2f2a 100644
--- a/modules/stitching/include/opencv2/stitching.hpp
+++ b/modules/stitching/include/opencv2/stitching.hpp
@@ -59,7 +59,13 @@ class CV_EXPORTS Stitcher
{
public:
enum { ORIG_RESOL = -1 };
- enum Status { OK, ERR_NEED_MORE_IMGS };
+ enum Status
+ {
+ OK = 0,
+ ERR_NEED_MORE_IMGS = 1,
+ ERR_HOMOGRAPHY_EST_FAIL = 2,
+ ERR_CAMERA_PARAMS_ADJUST_FAIL = 3
+ };
// Creates stitcher with default parameters
static Stitcher createDefault(bool try_use_gpu = false);
@@ -138,7 +144,7 @@ private:
Stitcher() {}
Status matchImages();
- void estimateCameraParams();
+ Status estimateCameraParams();
double registr_resol_;
double seam_est_resol_;
diff --git a/modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp b/modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp
index 581a0292d..c0e446c60 100644
--- a/modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp
+++ b/modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp
@@ -56,12 +56,14 @@ class CV_EXPORTS Estimator
public:
virtual ~Estimator() {}
- void operator ()(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches,
+ bool operator ()(const std::vector<ImageFeatures> &features,
+ const std::vector<MatchesInfo> &pairwise_matches,
std::vector<CameraParams> &cameras)
- { estimate(features, pairwise_matches, cameras); }
+ { return estimate(features, pairwise_matches, cameras); }
protected:
- virtual void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches,
+ virtual bool estimate(const std::vector<ImageFeatures> &features,
+ const std::vector<MatchesInfo> &pairwise_matches,
std::vector<CameraParams> &cameras) = 0;
};
@@ -73,8 +75,9 @@ public:
: is_focals_estimated_(is_focals_estimated) {}
private:
- void estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches,
- std::vector<CameraParams> &cameras);
+ virtual bool estimate(const std::vector<ImageFeatures> &features,
+ const std::vector<MatchesInfo> &pairwise_matches,
+ std::vector<CameraParams> &cameras);
bool is_focals_estimated_;
};
@@ -107,7 +110,7 @@ protected:
}
// Runs bundle adjustment
- virtual void estimate(const std::vector<ImageFeatures> &features,
+ virtual bool estimate(const std::vector<ImageFeatures> &features,
const std::vector<MatchesInfo> &pairwise_matches,
std::vector<CameraParams> &cameras);
@@ -193,11 +196,14 @@ void CV_EXPORTS waveCorrect(std::vector<Mat> &rmats, WaveCorrectKind kind);
String CV_EXPORTS matchesGraphAsString(std::vector<String> &pathes, std::vector<MatchesInfo> &pairwise_matches,
float conf_threshold);
-std::vector<int> CV_EXPORTS leaveBiggestComponent(std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches,
- float conf_threshold);
+std::vector<int> CV_EXPORTS leaveBiggestComponent(
+ std::vector<ImageFeatures> &features,
+ std::vector<MatchesInfo> &pairwise_matches,
+ float conf_threshold);
-void CV_EXPORTS findMaxSpanningTree(int num_images, const std::vector<MatchesInfo> &pairwise_matches,
- Graph &span_tree, std::vector<int> ¢ers);
+void CV_EXPORTS findMaxSpanningTree(
+ int num_images, const std::vector<MatchesInfo> &pairwise_matches,
+ Graph &span_tree, std::vector<int> ¢ers);
} // namespace detail
} // namespace cv
diff --git a/modules/stitching/src/motion_estimators.cpp b/modules/stitching/src/motion_estimators.cpp
index 1bb3df7bb..3640bd3cc 100644
--- a/modules/stitching/src/motion_estimators.cpp
+++ b/modules/stitching/src/motion_estimators.cpp
@@ -101,8 +101,10 @@ void calcDeriv(const Mat &err1, const Mat &err2, double h, Mat res)
namespace cv {
namespace detail {
-void HomographyBasedEstimator::estimate(const std::vector<ImageFeatures> &features, const std::vector<MatchesInfo> &pairwise_matches,
- std::vector<CameraParams> &cameras)
+bool HomographyBasedEstimator::estimate(
+ const std::vector<ImageFeatures> &features,
+ const std::vector<MatchesInfo> &pairwise_matches,
+ std::vector<CameraParams> &cameras)
{
LOGLN("Estimating rotations...");
#if ENABLE_LOG
@@ -164,12 +166,13 @@ void HomographyBasedEstimator::estimate(const std::vector<ImageFeatures> &featur
}
LOGLN("Estimating rotations, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
+ return true;
}
//////////////////////////////////////////////////////////////////////////////
-void BundleAdjusterBase::estimate(const std::vector<ImageFeatures> &features,
+bool BundleAdjusterBase::estimate(const std::vector<ImageFeatures> &features,
const std::vector<MatchesInfo> &pairwise_matches,
std::vector<CameraParams> &cameras)
{
@@ -245,7 +248,21 @@ void BundleAdjusterBase::estimate(const std::vector<ImageFeatures> &features,
LOGLN_CHAT("Bundle adjustment, final RMS error: " << std::sqrt(err.dot(err) / total_num_matches_));
LOGLN_CHAT("Bundle adjustment, iterations done: " << iter);
- obtainRefinedCameraParams(cameras);
+ // Check if all camera parameters are valid
+ bool ok = true;
+ for (int i = 0; i < cam_params_.rows; ++i)
+ {
+ if (isnan(cam_params_.at<double>(i,0)) ||
+ isinf(cam_params_.at<double>(i,0)))
+ {
+ ok = false;
+ break;
+ }
+ }
+ if (!ok)
+ return false;
+
+ obtainRefinedCameraParams(cameras);
// Normalize motion to center image
Graph span_tree;
@@ -256,6 +273,7 @@ void BundleAdjusterBase::estimate(const std::vector<ImageFeatures> &features,
cameras[i].R = R_inv * cameras[i].R;
LOGLN_CHAT("Bundle adjustment, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
+ return true;
}
diff --git a/modules/stitching/src/stitcher.cpp b/modules/stitching/src/stitcher.cpp
index cef9fe4e9..75307209d 100644
--- a/modules/stitching/src/stitcher.cpp
+++ b/modules/stitching/src/stitcher.cpp
@@ -102,7 +102,8 @@ Stitcher::Status Stitcher::estimateTransform(InputArray images, const std::vecto
if ((status = matchImages()) != OK)
return status;
- estimateCameraParams();
+ if ((status = estimateCameraParams()) != OK)
+ return status;
return OK;
}
@@ -442,10 +443,11 @@ Stitcher::Status Stitcher::matchImages()
}
-void Stitcher::estimateCameraParams()
+Stitcher::Status Stitcher::estimateCameraParams()
{
detail::HomographyBasedEstimator estimator;
- estimator(features_, pairwise_matches_, cameras_);
+ if (!estimator(features_, pairwise_matches_, cameras_))
+ return ERR_HOMOGRAPHY_EST_FAIL;
for (size_t i = 0; i < cameras_.size(); ++i)
{
@@ -456,7 +458,8 @@ void Stitcher::estimateCameraParams()
}
bundle_adjuster_->setConfThresh(conf_thresh_);
- (*bundle_adjuster_)(features_, pairwise_matches_, cameras_);
+ if (!(*bundle_adjuster_)(features_, pairwise_matches_, cameras_))
+ return ERR_CAMERA_PARAMS_ADJUST_FAIL;
// Find median focal length and use it as final image scale
std::vector<double> focals;
@@ -481,6 +484,8 @@ void Stitcher::estimateCameraParams()
for (size_t i = 0; i < cameras_.size(); ++i)
cameras_[i].R = rmats[i];
}
+
+ return OK;
}
} // namespace cv
diff --git a/samples/cpp/stitching_detailed.cpp b/samples/cpp/stitching_detailed.cpp
index 5ee79184d..a50229a57 100644
--- a/samples/cpp/stitching_detailed.cpp
+++ b/samples/cpp/stitching_detailed.cpp
@@ -469,7 +469,11 @@ int main(int argc, char* argv[])
HomographyBasedEstimator estimator;
vector<CameraParams> cameras;
- estimator(features, pairwise_matches, cameras);
+ if (!estimator(features, pairwise_matches, cameras))
+ {
+ cout << "Homography estimation failed.\n";
+ return -1;
+ }
for (size_t i = 0; i < cameras.size(); ++i)
{
@@ -495,7 +499,11 @@ int main(int argc, char* argv[])
if (ba_refine_mask[3] == 'x') refine_mask(1,1) = 1;
if (ba_refine_mask[4] == 'x') refine_mask(1,2) = 1;
adjuster->setRefinementMask(refine_mask);
- (*adjuster)(features, pairwise_matches, cameras);
+ if (!(*adjuster)(features, pairwise_matches, cameras))
+ {
+ cout << "Camera parameters adjusting failed.\n";
+ return -1;
+ }
// Find median focal length