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fixed BA error calculation in opencv_stitching, added draft version of waveCorrect

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This commit is contained in:
Alexey Spizhevoy 2011-05-05 15:12:36 +00:00
parent f39db3f15a
commit e72c0ad661
4 changed files with 73 additions and 16 deletions
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2
modules/stitching/blenders.hpp
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@ -39,7 +39,7 @@ private:
class MultiBandBlender : public Blender
{
public:
MultiBandBlender(int num_bands = 10) : num_bands_(num_bands) {}
MultiBandBlender(int num_bands = 7) : num_bands_(num_bands) {}
private:
cv::Point blend(const std::vector<cv::Mat> &src, const std::vector<cv::Point> &corners, const std::vector<cv::Mat> &masks,

32
modules/stitching/main.cpp
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@ -14,7 +14,8 @@ void printUsage()
cout << "Rotation model images stitcher.\n"
<< "Usage: opencv_stitching img1 img2 [...imgN]\n"
<< "\t[--matchconf <0.0-1.0>]\n"
<< "\t[--ba (ray_space|focal_ray_space)]\n"
<< "\t[--ba (ray|focal_ray)]\n"
//<< "\t[--wavecorrect (no|yes)]\n"
<< "\t[--warp (plane|cylindrical|spherical)]\n"
<< "\t[--seam (no|voronoi|graphcut)]\n"
<< "\t[--blend (no|feather|multiband)]\n"
@ -28,6 +29,7 @@ int main(int argc, char* argv[])
vector<Mat> images;
string result_name = "result.png";
int ba_space = BundleAdjuster::RAY_SPACE;
bool wave_correct = false;
int warp_type = Warper::SPHERICAL;
bool user_match_conf = false;
float match_conf = 0.55f;
@ -55,9 +57,9 @@ int main(int argc, char* argv[])
}
else if (string(argv[i]) == "--ba")
{
if (string(argv[i + 1]) == "ray_space")
if (string(argv[i + 1]) == "ray")
ba_space = BundleAdjuster::RAY_SPACE;
else if (string(argv[i + 1]) == "focal_ray_space")
else if (string(argv[i + 1]) == "focal_ray")
ba_space = BundleAdjuster::FOCAL_RAY_SPACE;
else
{
@ -66,6 +68,19 @@ int main(int argc, char* argv[])
}
i++;
}
//else if (string(argv[i]) == "--wavecorrect")
//{
// if (string(argv[i + 1]) == "no")
// wave_correct = false;
// else if (string(argv[i + 1]) == "yes")
// wave_correct = true;
// else
// {
// cout << "Bad wave correct flag value\n";
// return -1;
// }
// i++;
//}
else if (string(argv[i]) == "--warp")
{
if (string(argv[i + 1]) == "plane")
@ -164,6 +179,17 @@ int main(int argc, char* argv[])
BundleAdjuster adjuster(ba_space);
adjuster(images, features, pairwise_matches, cameras);
if (wave_correct)
{
LOGLN("Wave correcting...");
vector<Mat> rmats;
for (size_t i = 0; i < cameras.size(); ++i)
rmats.push_back(cameras[i].M);
waveCorrect(rmats);
for (size_t i = 0; i < cameras.size(); ++i)
cameras[i].M = rmats[i];
}
// Find median focal length
vector<double> focals;
for (size_t i = 0; i < cameras.size(); ++i)

52
modules/stitching/motion_estimators.cpp
View File

@ -19,8 +19,8 @@ namespace
public:
inline CpuSurfFeaturesFinder()
{
detector_ = new SurfFeatureDetector(500.0);
extractor_ = new SurfDescriptorExtractor;
detector_ = new SurfFeatureDetector(500);
extractor_ = new SurfDescriptorExtractor();
}
protected:
@ -491,17 +491,8 @@ void BundleAdjuster::estimate(const vector<Mat> &images, const vector<ImageFeatu
edges_.clear();
for (int i = 0; i < num_images_ - 1; ++i)
{
for (int j = i + 1; j < num_images_; ++j)
{
int pair_idx = i * num_images_ + j;
const MatchesInfo& mi = pairwise_matches_[pair_idx];
float ni = static_cast<float>(mi.num_inliers);
float nf = static_cast<float>(mi.matches.size());
if (ni / (8.f + 0.3f * nf) > 1.f)
edges_.push_back(make_pair(i, j));
}
}
edges_.push_back(make_pair(i, j));
total_num_matches_ = 0;
for (size_t i = 0; i < edges_.size(); ++i)
@ -683,6 +674,43 @@ void BundleAdjuster::calcJacobian()
}
//////////////////////////////////////////////////////////////////////////////
// TODO test on adobe/halfdome
void waveCorrect(vector<Mat> &rmats)
{
float data[9];
Mat r0(1, 3, CV_32F, data);
Mat r1(1, 3, CV_32F, data + 3);
Mat r2(1, 3, CV_32F, data + 6);
Mat R(3, 3, CV_32F, data);
Mat cov = Mat::zeros(3, 3, CV_32F);
for (size_t i = 0; i < rmats.size(); ++i)
{
Mat r0 = rmats[i].col(0);
cov += r0 * r0.t();
}
SVD svd;
svd(cov, SVD::FULL_UV);
svd.vt.row(2).copyTo(r1);
if (determinant(svd.vt) < 0)
r1 *= -1;
Mat avgz = Mat::zeros(3, 1, CV_32F);
for (size_t i = 0; i < rmats.size(); ++i)
avgz += rmats[i].col(2);
avgz.t().cross(r1).copyTo(r0);
normalize(r0, r0);
r0.cross(r1).copyTo(r2);
for (size_t i = 0; i < rmats.size(); ++i)
rmats[i] = R * rmats[i];
}
//////////////////////////////////////////////////////////////////////////////
void findMaxSpanningTree(int num_images, const vector<MatchesInfo> &pairwise_matches,

3
modules/stitching/motion_estimators.hpp
View File

@ -148,6 +148,9 @@ private:
};
void waveCorrect(std::vector<cv::Mat> &rmats);
//////////////////////////////////////////////////////////////////////////////
// Auxiliary functions