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added --ba_thresh key into opencv_stitching CLI

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This commit is contained in:
Alexey Spizhevoy 2011-05-06 05:14:07 +00:00
parent e72c0ad661
commit 3928dd9d99
3 changed files with 23 additions and 5 deletions
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11
modules/stitching/main.cpp
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@ -15,6 +15,7 @@ void printUsage()
<< "Usage: opencv_stitching img1 img2 [...imgN]\n" << "Usage: opencv_stitching img1 img2 [...imgN]\n"
<< "\t[--matchconf <0.0-1.0>]\n" << "\t[--matchconf <0.0-1.0>]\n"
<< "\t[--ba (ray|focal_ray)]\n" << "\t[--ba (ray|focal_ray)]\n"
<< "\t[--ba_thresh <float>]\n"
//<< "\t[--wavecorrect (no|yes)]\n" //<< "\t[--wavecorrect (no|yes)]\n"
<< "\t[--warp (plane|cylindrical|spherical)]\n" << "\t[--warp (plane|cylindrical|spherical)]\n"
<< "\t[--seam (no|voronoi|graphcut)]\n" << "\t[--seam (no|voronoi|graphcut)]\n"
@ -29,6 +30,7 @@ int main(int argc, char* argv[])
vector<Mat> images; vector<Mat> images;
string result_name = "result.png"; string result_name = "result.png";
int ba_space = BundleAdjuster::RAY_SPACE; int ba_space = BundleAdjuster::RAY_SPACE;
float ba_thresh = 1.f;
bool wave_correct = false; bool wave_correct = false;
int warp_type = Warper::SPHERICAL; int warp_type = Warper::SPHERICAL;
bool user_match_conf = false; bool user_match_conf = false;
@ -52,7 +54,7 @@ int main(int argc, char* argv[])
else if (string(argv[i]) == "--matchconf") else if (string(argv[i]) == "--matchconf")
{ {
user_match_conf = true; user_match_conf = true;
match_conf = static_cast<float>(atof(string(argv[i + 1]).c_str())); match_conf = static_cast<float>(atof(argv[i + 1]));
i++; i++;
} }
else if (string(argv[i]) == "--ba") else if (string(argv[i]) == "--ba")
@ -68,6 +70,11 @@ int main(int argc, char* argv[])
} }
i++; i++;
} }
else if (string(argv[i]) == "--ba_thresh")
{
ba_thresh = static_cast<float>(atof(argv[i + 1]));
i++;
}
//else if (string(argv[i]) == "--wavecorrect") //else if (string(argv[i]) == "--wavecorrect")
//{ //{
// if (string(argv[i + 1]) == "no") // if (string(argv[i + 1]) == "no")
@ -176,7 +183,7 @@ int main(int argc, char* argv[])
} }
LOGLN("Bundle adjustment..."); LOGLN("Bundle adjustment...");
BundleAdjuster adjuster(ba_space); BundleAdjuster adjuster(ba_space, ba_thresh);
adjuster(images, features, pairwise_matches, cameras); adjuster(images, features, pairwise_matches, cameras);
if (wave_correct) if (wave_correct)

13
modules/stitching/motion_estimators.cpp
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@ -491,8 +491,17 @@ void BundleAdjuster::estimate(const vector<Mat> &images, const vector<ImageFeatu
edges_.clear(); edges_.clear();
for (int i = 0; i < num_images_ - 1; ++i) for (int i = 0; i < num_images_ - 1; ++i)
{
for (int j = i + 1; j < num_images_; ++j) for (int j = i + 1; j < num_images_; ++j)
edges_.push_back(make_pair(i, j)); {
int pair_idx = i * num_images_ + j;
const MatchesInfo& mi = pairwise_matches_[pair_idx];
float ni = static_cast<float>(mi.num_inliers);
float nf = static_cast<float>(mi.matches.size());
if (ni / (8.f + 0.3f * nf) > dist_thresh_)
edges_.push_back(make_pair(i, j));
}
}
total_num_matches_ = 0; total_num_matches_ = 0;
for (size_t i = 0; i < edges_.size(); ++i) for (size_t i = 0; i < edges_.size(); ++i)
@ -528,7 +537,7 @@ void BundleAdjuster::estimate(const vector<Mat> &images, const vector<ImageFeatu
if (_err) if (_err)
{ {
calcError(err_); calcError(err_);
//LOGLN("Error: " << sqrt(err_.dot(err_))); LOGLN("Error: " << sqrt(err_.dot(err_)));
count++; count++;
CvMat matErr = err_; CvMat matErr = err_;
cvCopy( &matErr, _err ); cvCopy( &matErr, _err );

4
modules/stitching/motion_estimators.hpp
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@ -125,7 +125,8 @@ class BundleAdjuster : public Estimator
public: public:
enum { RAY_SPACE, FOCAL_RAY_SPACE }; enum { RAY_SPACE, FOCAL_RAY_SPACE };
BundleAdjuster(int cost_space = FOCAL_RAY_SPACE) : cost_space_(cost_space) {} BundleAdjuster(int cost_space = FOCAL_RAY_SPACE, float dist_thresh = 1.f)
: cost_space_(cost_space), dist_thresh_(dist_thresh) {}
private: private:
void estimate(const std::vector<cv::Mat> &images, const std::vector<ImageFeatures> &features, void estimate(const std::vector<cv::Mat> &images, const std::vector<ImageFeatures> &features,
@ -143,6 +144,7 @@ private:
std::vector<std::pair<int,int> > edges_; std::vector<std::pair<int,int> > edges_;
int cost_space_; int cost_space_;
float dist_thresh_;
cv::Mat err_, err1_, err2_; cv::Mat err_, err1_, err2_;
cv::Mat J_; cv::Mat J_;
}; };