refactored opencv_stitching, added possibility to turn off BA

modules/stitching/blenders.hpp

@@ -114,7 +114,7 @@ void createLaplacePyr(const cv::Mat &img, int num_levels, std::vector<cv::Mat>&
 void createLaplacePyrGpu(const cv::Mat &img, int num_levels, std::vector<cv::Mat>& pyr);
 #endif
 
-// Restores source image in-place (result will be stored in pyr[0])
+// Restores source image
 void restoreImageFromLaplacePyr(std::vector<cv::Mat>& pyr);
 
 #endif // __OPENCV_BLENDERS_HPP__

modules/stitching/exposure_compensate.cpp

@@ -74,6 +74,9 @@ void ExposureCompensator::feed(const vector<Point> &corners, const vector<Mat> &
 void GainCompensator::feed(const vector<Point> &corners, const vector<Mat> &images, 
                            const vector<pair<Mat,uchar> > &masks)
 {
+    LOGLN("Exposure compensation...");
+    int64 t = getTickCount();
+
     CV_Assert(corners.size() == images.size() && images.size() == masks.size());
 
     const int num_images = static_cast<int>(images.size());
@@ -138,6 +141,8 @@ void GainCompensator::feed(const vector<Point> &corners, const vector<Mat> &imag
     }
 
     solve(A, b, gains_);
+
+    LOGLN("Exposure compensation, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
 }
 
 

modules/stitching/main.cpp

@@ -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);
         }

modules/stitching/motion_estimators.cpp

@@ -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");
 }
 
 

modules/stitching/motion_estimators.hpp

@@ -90,7 +90,7 @@ private:
 class BundleAdjuster : public Estimator
 {
 public:
-    enum { RAY_SPACE, FOCAL_RAY_SPACE };
+    enum { NO, RAY_SPACE, FOCAL_RAY_SPACE };
 
     BundleAdjuster(int cost_space = FOCAL_RAY_SPACE, float conf_thresh = 1.f) 
         : cost_space_(cost_space), conf_thresh_(conf_thresh) {}

modules/stitching/seam_finders.cpp

@@ -64,6 +64,9 @@ Ptr<SeamFinder> SeamFinder::createDefault(int type)
 void PairwiseSeamFinder::find(const vector<Mat> &src, const vector<Point> &corners,
                               vector<Mat> &masks)
 {
+    LOGLN("Finding seams...");
+    int64 t = getTickCount();
+
     if (src.size() == 0)
         return;
 
@@ -80,6 +83,8 @@ void PairwiseSeamFinder::find(const vector<Mat> &src, const vector<Point> &corne
                 findInPair(i, j, roi);
         }
     }
+
+    LOGLN("Finding seams, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
 }