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Updated motions estimators in the stitching module to be able to set camera intrinsics manually

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This commit is contained in:
Alexey Spizhevoy 2011-12-22 09:59:03 +00:00
parent 893f75444d
commit b4f17ab79e
2 changed files with 32 additions and 18 deletions
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4
modules/stitching/include/opencv2/stitching/detail/motion_estimators.hpp
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@ -69,7 +69,9 @@ protected:
class CV_EXPORTS HomographyBasedEstimator : public Estimator class CV_EXPORTS HomographyBasedEstimator : public Estimator
{ {
public: public:
HomographyBasedEstimator() : is_focals_estimated_(false) {} HomographyBasedEstimator(bool is_focals_estimated = false)
: is_focals_estimated_(is_focals_estimated) {}
bool isFocalsEstimated() const { return is_focals_estimated_; } bool isFocalsEstimated() const { return is_focals_estimated_; }
private: private:

46
modules/stitching/src/motion_estimators.cpp
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@ -65,16 +65,17 @@ struct CalcRotation
{ {
int pair_idx = edge.from * num_images + edge.to; int pair_idx = edge.from * num_images + edge.to;
double f_from = cameras[edge.from].focal; Mat_<double> K_from = Mat::eye(3, 3, CV_64F);
double f_to = cameras[edge.to].focal; K_from(0,0) = cameras[edge.from].focal;
K_from(1,1) = cameras[edge.from].focal * cameras[edge.from].aspect;
K_from(0,2) = cameras[edge.from].ppx;
K_from(0,2) = cameras[edge.from].ppy;
Mat K_from = Mat::eye(3, 3, CV_64F); Mat_<double> K_to = Mat::eye(3, 3, CV_64F);
K_from.at<double>(0, 0) = f_from; K_to(0,0) = cameras[edge.to].focal;
K_from.at<double>(1, 1) = f_from; K_to(1,1) = cameras[edge.to].focal * cameras[edge.to].aspect;
K_to(0,2) = cameras[edge.to].ppx;
Mat K_to = Mat::eye(3, 3, CV_64F); K_to(0,2) = cameras[edge.to].ppy;
K_to.at<double>(0, 0) = f_to;
K_to.at<double>(1, 1) = f_to;
Mat R = K_from.inv() * pairwise_matches[pair_idx].H.inv() * K_to; Mat R = K_from.inv() * pairwise_matches[pair_idx].H.inv() * K_to;
cameras[edge.to].R = cameras[edge.from].R * R; cameras[edge.to].R = cameras[edge.from].R * R;
@ -129,12 +130,23 @@ void HomographyBasedEstimator::estimate(const vector<ImageFeatures> &features, c
} }
#endif #endif
// Estimate focal length and set it for all cameras if (!is_focals_estimated_)
vector<double> focals; {
estimateFocal(features, pairwise_matches, focals); // Estimate focal length and set it for all cameras
cameras.assign(num_images, CameraParams()); vector<double> focals;
for (int i = 0; i < num_images; ++i) estimateFocal(features, pairwise_matches, focals);
cameras[i].focal = focals[i]; cameras.assign(num_images, CameraParams());
for (int i = 0; i < num_images; ++i)
cameras[i].focal = focals[i];
}
else
{
for (int i = 0; i < num_images; ++i)
{
cameras[i].ppx -= 0.5 * features[i].img_size.width;
cameras[i].ppy -= 0.5 * features[i].img_size.height;
}
}
// Restore global motion // Restore global motion
Graph span_tree; Graph span_tree;
@ -145,8 +157,8 @@ void HomographyBasedEstimator::estimate(const vector<ImageFeatures> &features, c
// As calculations were performed under assumption that p.p. is in image center // As calculations were performed under assumption that p.p. is in image center
for (int i = 0; i < num_images; ++i) for (int i = 0; i < num_images; ++i)
{ {
cameras[i].ppx = 0.5 * features[i].img_size.width; cameras[i].ppx += 0.5 * features[i].img_size.width;
cameras[i].ppy = 0.5 * features[i].img_size.height; cameras[i].ppy += 0.5 * features[i].img_size.height;
} }
LOGLN("Estimating rotations, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec"); LOGLN("Estimating rotations, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");