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refactored opencv_stitching, added possibility to turn off BA

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This commit is contained in:
Alexey Spizhevoy
2011-08-15 12:20:27 +00:00
parent 6e3a1f7b49
commit b97ecdff0d
6 changed files with 44 additions and 29 deletions
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23
modules/stitching/main.cpp
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@@ -80,7 +80,7 @@ void printUsage()
" --conf_thresh <float>\n"
" Threshold for two images are from the same panorama confidence.\n"
" The default is 1.0.\n"
" --ba (ray|focal_ray)\n"
" --ba (no|ray|focal_ray)\n"
" Bundle adjustment cost function. The default is 'focal_ray'.\n"
" --wave_correct (no|yes)\n"
" Perform wave effect correction. The default is 'yes'.\n"
@@ -187,7 +187,9 @@ int parseCmdArgs(int argc, char** argv)
}
else if (string(argv[i]) == "--ba")
{
if (string(argv[i + 1]) == "ray")
if (string(argv[i + 1]) == "no")
ba_space = BundleAdjuster::NO;
else if (string(argv[i + 1]) == "ray")
ba_space = BundleAdjuster::RAY_SPACE;
else if (string(argv[i + 1]) == "focal_ray")
ba_space = BundleAdjuster::FOCAL_RAY_SPACE;
@@ -423,12 +425,9 @@ int main(int argc, char* argv[])
return -1;
}
LOGLN("Estimating rotations...");
t = getTickCount();
HomographyBasedEstimator estimator;
vector<CameraParams> cameras;
estimator(features, pairwise_matches, cameras);
LOGLN("Estimating rotations, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
for (size_t i = 0; i < cameras.size(); ++i)
{
@@ -438,11 +437,8 @@ int main(int argc, char* argv[])
LOGLN("Initial focal length #" << indices[i]+1 << ": " << cameras[i].focal);
}
LOG("Bundle adjustment");
t = getTickCount();
BundleAdjuster adjuster(ba_space, conf_thresh);
adjuster(features, pairwise_matches, cameras);
LOGLN("Bundle adjustment, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
// Find median focal length
vector<double> focals;
@@ -456,15 +452,12 @@ int main(int argc, char* argv[])
if (wave_correct)
{
LOGLN("Wave correcting...");
t = getTickCount();
vector<Mat> rmats;
for (size_t i = 0; i < cameras.size(); ++i)
rmats.push_back(cameras[i].R);
waveCorrect(rmats);
for (size_t i = 0; i < cameras.size(); ++i)
cameras[i].R = rmats[i];
LOGLN("Wave correcting, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
}
LOGLN("Warping images (auxiliary)... ");
@@ -501,17 +494,11 @@ int main(int argc, char* argv[])
LOGLN("Warping images, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
LOGLN("Exposure compensation (feed)...");
t = getTickCount();
Ptr<ExposureCompensator> compensator = ExposureCompensator::createDefault(expos_comp_type);
compensator->feed(corners, images_warped, masks_warped);
LOGLN("Exposure compensation (feed), time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
LOGLN("Finding seams...");
t = getTickCount();
Ptr<SeamFinder> seam_finder = SeamFinder::createDefault(seam_find_type);
seam_finder->find(images_warped_f, corners, masks_warped);
LOGLN("Finding seams, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
// Release unused memory
images.clear();
@@ -612,7 +599,7 @@ int main(int argc, char* argv[])
{
FeatherBlender* fb = dynamic_cast<FeatherBlender*>(static_cast<Blender*>(blender));
fb->setSharpness(1.f/blend_width);
LOGLN("Feather blender, number of bands: " << fb->sharpness());
LOGLN("Feather blender, sharpness: " << fb->sharpness());
}
blender->prepare(corners, sizes);
}