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minor refactoring of opencv_stitching

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This commit is contained in:
Alexey Spizhevoy 2011-05-28 13:03:28 +00:00
parent 7881134cf7
commit eadb3bad45
3 changed files with 31 additions and 26 deletions
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47
modules/stitching/main.cpp
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@ -79,7 +79,7 @@ void printUsage()
" Resolution for compositing step. Use -1 for original resolution.\n"
" The default is -1.\n"
" --match_conf <float>\n"
" Confidence for feature matching step. The default is 0.6.\n"
" Confidence for feature matching step. The default is 0.7.\n"
" --ba (ray|focal_ray)\n"
" Bundle adjustment cost function. The default is 'focal_ray'.\n"
" --conf_thresh <float>\n"
@ -113,8 +113,7 @@ float conf_thresh = 1.f;
bool wave_correct = true;
int warp_type = Warper::SPHERICAL;
int expos_comp_type = ExposureCompensator::GAIN;
bool user_match_conf = false;
float match_conf = 0.6f;
float match_conf = 0.7f;
int seam_find_type = SeamFinder::GC_COLOR;
int blend_type = Blender::MULTI_BAND;
int num_bands = 5;
@ -129,7 +128,12 @@ int parseCmdArgs(int argc, char** argv)
}
for (int i = 1; i < argc; ++i)
{
if (string(argv[i]) == "--preview")
if (string(argv[i]) == "--help" || string(argv[i]) == "/?")
{
printUsage();
return -1;
}
else if (string(argv[i]) == "--preview")
{
preview = true;
}
@ -168,7 +172,6 @@ int parseCmdArgs(int argc, char** argv)
}
else if (string(argv[i]) == "--match_conf")
{
user_match_conf = true;
match_conf = static_cast<float>(atof(argv[i + 1]));
i++;
}
@ -348,7 +351,7 @@ int main(int argc, char* argv[])
finder(img, features[i]);
features[i].img_idx = i;
LOGLN("Features in image #" << i << ": " << features[i].keypoints.size());
LOGLN("Features in image #" << i+1 << ": " << features[i].keypoints.size());
resize(full_img, img, Size(), seam_scale, seam_scale);
images[i] = img.clone();
@ -359,12 +362,10 @@ int main(int argc, char* argv[])
LOGLN("Finding features, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
LOGLN("Pairwise matching... ");
LOG("Pairwise matching");
t = getTickCount();
vector<MatchesInfo> pairwise_matches;
BestOf2NearestMatcher matcher(try_gpu);
if (user_match_conf)
matcher = BestOf2NearestMatcher(try_gpu, match_conf);
BestOf2NearestMatcher matcher(try_gpu, match_conf);
matcher(features, pairwise_matches);
LOGLN("Pairwise matching, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
@ -401,15 +402,25 @@ int main(int argc, char* argv[])
Mat R;
cameras[i].R.convertTo(R, CV_32F);
cameras[i].R = R;
LOGLN("Initial focal length #" << i << ": " << cameras[i].focal);
LOGLN("Initial focal length #" << indices[i]+1 << ": " << cameras[i].focal);
}
LOGLN("Bundle adjustment... ");
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;
for (size_t i = 0; i < cameras.size(); ++i)
{
LOGLN("Camera #" << indices[i]+1 << " focal length: " << cameras[i].focal);
focals.push_back(cameras[i].focal);
}
nth_element(focals.begin(), focals.begin() + focals.size()/2, focals.end());
float warped_image_scale = static_cast<float>(focals[focals.size() / 2]);
if (wave_correct)
{
LOGLN("Wave correcting...");
@ -423,16 +434,6 @@ int main(int argc, char* argv[])
LOGLN("Wave correcting, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
}
// Find median focal length
vector<double> focals;
for (size_t i = 0; i < cameras.size(); ++i)
{
LOGLN("Camera #" << i << " focal length: " << cameras[i].focal);
focals.push_back(cameras[i].focal);
}
nth_element(focals.begin(), focals.begin() + focals.size()/2, focals.end());
float warped_image_scale = static_cast<float>(focals[focals.size() / 2]);
LOGLN("Warping images (auxiliary)... ");
t = getTickCount();
@ -496,7 +497,7 @@ int main(int argc, char* argv[])
for (int img_idx = 0; img_idx < num_images; ++img_idx)
{
LOGLN("Compositing image #" << img_idx);
LOGLN("Compositing image #" << indices[img_idx]+1);
// Read image and resize it if necessary
full_img = imread(img_names[img_idx]);

2
modules/stitching/matchers.cpp
View File

@ -219,6 +219,7 @@ struct MatchPairsBody
for (size_t j = 0; j < pairwise_matches[dual_pair_idx].matches.size(); ++j)
swap(pairwise_matches[dual_pair_idx].matches[j].queryIdx,
pairwise_matches[dual_pair_idx].matches[j].trainIdx);
LOG(".");
}
}
@ -248,6 +249,7 @@ void FeaturesMatcher::operator ()(const vector<ImageFeatures> &features, vector<
parallel_for(BlockedRange(0, static_cast<int>(near_pairs.size())), body);
else
body(BlockedRange(0, static_cast<int>(near_pairs.size())));
LOGLN("");
}

8
modules/stitching/motion_estimators.cpp
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@ -198,14 +198,15 @@ void BundleAdjuster::estimate(const vector<ImageFeatures> &features, const vecto
if (_err)
{
calcError(err_);
LOGLN("Error: " << sqrt(err_.dot(err_)));
LOG(".");
count++;
CvMat matErr = err_;
cvCopy( &matErr, _err );
}
}
LOGLN("");
LOGLN("Bundle adjustment, final error: " << sqrt(err_.dot(err_)));
LOGLN("Bundle adjustment, iteration done: " << count);
LOGLN("Bundle adjustment, iterations done: " << count);
// Obtain global motion
for (int i = 0; i < num_images_; ++i)
@ -432,7 +433,8 @@ vector<int> leaveBiggestComponent(vector<ImageFeatures> &features, vector<Match
LOG("Removed some images, because can't match them: (");
LOG(indices_removed[0]);
for (size_t i = 1; i < indices_removed.size(); ++i) LOG(", " << indices_removed[i]);
for (size_t i = 1; i < indices_removed.size(); ++i)
LOG(", " << indices_removed[i]+1);
LOGLN(")");
features = features_subset;