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Added BA refinement flags into stitching_detailed

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This commit is contained in:
Alexey Spizhevoy
2011-09-22 08:58:48 +00:00
parent 0ad1d0afac
commit 39533a0b1b
4 changed files with 125 additions and 39 deletions
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24
modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp
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@@ -83,6 +83,13 @@ private:
class CV_EXPORTS BundleAdjusterBase : public Estimator
{
public:
const Mat refinementMask() const { return refinement_mask_.clone(); }
void setRefinementMask(const Mat &mask)
{
CV_Assert(mask.type() == CV_8U && mask.size() == Size(3, 3));
refinement_mask_ = mask.clone();
}
double confThresh() const { return conf_thresh_; }
void setConfThresh(double conf_thresh) { conf_thresh_ = conf_thresh; }
@@ -90,7 +97,10 @@ protected:
BundleAdjusterBase(int num_params_per_cam, int num_errs_per_measurement)
: num_params_per_cam_(num_params_per_cam),
num_errs_per_measurement_(num_errs_per_measurement)
{ setConfThresh(1.); }
{
setRefinementMask(Mat::ones(3, 3, CV_8U));
setConfThresh(1.);
}
// Runs bundle adjustment
virtual void estimate(const std::vector<ImageFeatures> &features,
@@ -102,6 +112,9 @@ protected:
virtual void calcError(Mat &err) = 0;
virtual void calcJacobian(Mat &jac) = 0;
// 3x3 8U mask, where 0 means don't refine respective parameter, != 0 means refine
Mat refinement_mask_;
int num_images_;
int total_num_matches_;
@@ -122,11 +135,13 @@ protected:
};
// Minimizes reprojection error
// Minimizes reprojection error.
// It can estimate focal length, aspect ratio, principal point.
// You can affect only on them via the refinement mask.
class CV_EXPORTS BundleAdjusterReproj : public BundleAdjusterBase
{
public:
BundleAdjusterReproj() : BundleAdjusterBase(6, 2) {}
BundleAdjusterReproj() : BundleAdjusterBase(7, 2) {}
private:
void setUpInitialCameraParams(const std::vector<CameraParams> &cameras);
@@ -138,7 +153,8 @@ private:
};
// Minimizes sun of ray-to-ray distances
// Minimizes sun of ray-to-ray distances.
// It can estimate focal length. It ignores the refinement mask for now.
class CV_EXPORTS BundleAdjusterRay : public BundleAdjusterBase
{
public:

2
modules/stitching/include/opencv2/stitching/detail/warpers_inl.hpp
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@@ -103,7 +103,7 @@ Rect WarperBase<P>::warpRoi(const Size &sz, const Mat &K, const Mat &R)
template <class P>
Rect WarperBase<P>::warpRoi(const Size &sz, const Mat &K, const Mat &R, const Mat &T)
Rect WarperBase<P>::warpRoi(const Size &/*sz*/, const Mat &/*K*/, const Mat &/*R*/, const Mat &/*T*/)
{
CV_Error(CV_StsNotImplemented, "translation support isn't implemented");
return Rect();