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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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20
modules/stitching/motion_estimators.cpp
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@@ -107,6 +107,9 @@ struct CalcRotation
void HomographyBasedEstimator::estimate(const vector<ImageFeatures> &features, const vector<MatchesInfo> &pairwise_matches,
vector<CameraParams> &cameras)
{
LOGLN("Estimating rotations...");
int64 t = getTickCount();
const int num_images = static_cast<int>(features.size());
#if 0
@@ -142,6 +145,8 @@ void HomographyBasedEstimator::estimate(const vector<ImageFeatures> &features, c
vector<int> span_tree_centers;
findMaxSpanningTree(num_images, pairwise_matches, span_tree, span_tree_centers);
span_tree.walkBreadthFirst(span_tree_centers[0], CalcRotation(num_images, pairwise_matches, cameras));
LOGLN("Estimating rotations, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
}
@@ -150,6 +155,12 @@ void HomographyBasedEstimator::estimate(const vector<ImageFeatures> &features, c
void BundleAdjuster::estimate(const vector<ImageFeatures> &features, const vector<MatchesInfo> &pairwise_matches,
vector<CameraParams> &cameras)
{
if (cost_space_ == NO)
return;
LOG("Bundle adjustment");
int64 t = getTickCount();
num_images_ = static_cast<int>(features.size());
features_ = &features[0];
pairwise_matches_ = &pairwise_matches[0];
@@ -251,6 +262,8 @@ void BundleAdjuster::estimate(const vector<ImageFeatures> &features, const vecto
Mat R_inv = cameras[span_tree_centers[0]].R.inv();
for (int i = 0; i < num_images_; ++i)
cameras[i].R = R_inv * cameras[i].R;
LOGLN("Bundle adjustment, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
}
@@ -306,7 +319,7 @@ void BundleAdjuster::calcError(Mat &err)
p2.x * R2[3] + p2.y * R2[4] + p2.z * R2[5],
p2.x * R2[6] + p2.y * R2[7] + p2.z * R2[8]);
double mult = 1;
double mult = 1; // For cost_space_ == RAY_SPACE
if (cost_space_ == FOCAL_RAY_SPACE)
mult = sqrt(f1 * f2);
err.at<double>(3 * match_idx, 0) = mult * (d1.x - d2.x);
@@ -374,6 +387,9 @@ void BundleAdjuster::calcJacobian()
void waveCorrect(vector<Mat> &rmats)
{
LOGLN("Wave correcting...");
int64 t = getTickCount();
float data[9];
Mat r0(1, 3, CV_32F, data);
Mat r1(1, 3, CV_32F, data + 3);
@@ -403,6 +419,8 @@ void waveCorrect(vector<Mat> &rmats)
for (size_t i = 0; i < rmats.size(); ++i)
rmats[i] = R * rmats[i];
LOGLN("Wave correcting, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
}