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refactored stitching module

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This commit is contained in:
Alexey Spizhevoy
2011-09-05 11:52:30 +00:00
parent 9be4701f24
commit fbe2e6fb01
9 changed files with 207 additions and 235 deletions
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116
modules/stitching/src/motion_estimators.cpp
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@@ -42,50 +42,53 @@
#include "precomp.hpp"
using namespace std;
using namespace cv;
namespace cv
namespace
{
struct IncDistance
{
IncDistance(vector<int> &dists) : dists(&dists[0]) {}
void operator ()(const GraphEdge &edge) { dists[edge.to] = dists[edge.from] + 1; }
int* dists;
};
struct CalcRotation
{
CalcRotation(int num_images, const vector<MatchesInfo> &pairwise_matches, vector<CameraParams> &cameras)
: num_images(num_images), pairwise_matches(&pairwise_matches[0]), cameras(&cameras[0]) {}
void operator ()(const GraphEdge &edge)
struct IncDistance
{
int pair_idx = edge.from * num_images + edge.to;
double f_from = cameras[edge.from].focal;
double f_to = cameras[edge.to].focal;
Mat K_from = Mat::eye(3, 3, CV_64F);
K_from.at<double>(0, 0) = f_from;
K_from.at<double>(1, 1) = f_from;
Mat K_to = Mat::eye(3, 3, CV_64F);
K_to.at<double>(0, 0) = f_to;
K_to.at<double>(1, 1) = f_to;
Mat R = K_from.inv() * pairwise_matches[pair_idx].H.inv() * K_to;
cameras[edge.to].R = cameras[edge.from].R * R;
}
int num_images;
const MatchesInfo* pairwise_matches;
CameraParams* cameras;
};
IncDistance(vector<int> &dists) : dists(&dists[0]) {}
void operator ()(const GraphEdge &edge) { dists[edge.to] = dists[edge.from] + 1; }
int* dists;
};
void HomographyBasedEstimator::estimate(const vector<ImageFeatures> &features, const vector<MatchesInfo> &pairwise_matches,
vector<CameraParams> &cameras)
struct CalcRotation
{
CalcRotation(int num_images, const vector<MatchesInfo> &pairwise_matches, vector<CameraParams> &cameras)
: num_images(num_images), pairwise_matches(&pairwise_matches[0]), cameras(&cameras[0]) {}
void operator ()(const GraphEdge &edge)
{
int pair_idx = edge.from * num_images + edge.to;
double f_from = cameras[edge.from].focal;
double f_to = cameras[edge.to].focal;
Mat K_from = Mat::eye(3, 3, CV_64F);
K_from.at<double>(0, 0) = f_from;
K_from.at<double>(1, 1) = f_from;
Mat K_to = Mat::eye(3, 3, CV_64F);
K_to.at<double>(0, 0) = f_to;
K_to.at<double>(1, 1) = f_to;
Mat R = K_from.inv() * pairwise_matches[pair_idx].H.inv() * K_to;
cameras[edge.to].R = cameras[edge.from].R * R;
}
int num_images;
const MatchesInfo* pairwise_matches;
CameraParams* cameras;
};
} // namespace
void cv::HomographyBasedEstimator::estimate(const vector<ImageFeatures> &features, const vector<MatchesInfo> &pairwise_matches,
vector<CameraParams> &cameras)
{
LOGLN("Estimating rotations...");
int64 t = getTickCount();
@@ -132,8 +135,8 @@ void HomographyBasedEstimator::estimate(const vector<ImageFeatures> &features, c
//////////////////////////////////////////////////////////////////////////////
void BundleAdjuster::estimate(const vector<ImageFeatures> &features, const vector<MatchesInfo> &pairwise_matches,
vector<CameraParams> &cameras)
void cv::BundleAdjuster::estimate(const vector<ImageFeatures> &features, const vector<MatchesInfo> &pairwise_matches,
vector<CameraParams> &cameras)
{
if (cost_space_ == NO)
return;
@@ -247,7 +250,7 @@ void BundleAdjuster::estimate(const vector<ImageFeatures> &features, const vecto
}
void BundleAdjuster::calcError(Mat &err)
void cv::BundleAdjuster::calcError(Mat &err)
{
err.create(total_num_matches_ * 3, 1, CV_64F);
@@ -311,14 +314,19 @@ void BundleAdjuster::calcError(Mat &err)
}
void calcDeriv(const Mat &err1, const Mat &err2, double h, Mat res)
namespace
{
for (int i = 0; i < err1.rows; ++i)
res.at<double>(i, 0) = (err2.at<double>(i, 0) - err1.at<double>(i, 0)) / h;
}
void calcDeriv(const Mat &err1, const Mat &err2, double h, Mat res)
{
for (int i = 0; i < err1.rows; ++i)
res.at<double>(i, 0) = (err2.at<double>(i, 0) - err1.at<double>(i, 0)) / h;
}
} // namespace
void BundleAdjuster::calcJacobian()
void cv::BundleAdjuster::calcJacobian()
{
J_.create(total_num_matches_ * 3, num_images_ * 4, CV_64F);
@@ -366,7 +374,7 @@ void BundleAdjuster::calcJacobian()
//////////////////////////////////////////////////////////////////////////////
// TODO replace SVD with eigen
void waveCorrect(vector<Mat> &rmats)
void cv::waveCorrect(vector<Mat> &rmats)
{
LOGLN("Wave correcting...");
int64 t = getTickCount();
@@ -407,8 +415,8 @@ void waveCorrect(vector<Mat> &rmats)
//////////////////////////////////////////////////////////////////////////////
string matchesGraphAsString(vector<string> &pathes, vector<MatchesInfo> &pairwise_matches,
float conf_threshold)
string cv::matchesGraphAsString(vector<string> &pathes, vector<MatchesInfo> &pairwise_matches,
float conf_threshold)
{
stringstream str;
str << "graph matches_graph{\n";
@@ -473,8 +481,8 @@ string matchesGraphAsString(vector<string> &pathes, vector<MatchesInfo> &pairwis
return str.str();
}
vector<int> leaveBiggestComponent(vector<ImageFeatures> &features, vector<MatchesInfo> &pairwise_matches,
float conf_threshold)
vector<int> cv::leaveBiggestComponent(vector<ImageFeatures> &features, vector<MatchesInfo> &pairwise_matches,
float conf_threshold)
{
const int num_images = static_cast<int>(features.size());
@@ -531,8 +539,8 @@ vector<int> leaveBiggestComponent(vector<ImageFeatures> &features, vector<Match
}
void findMaxSpanningTree(int num_images, const vector<MatchesInfo> &pairwise_matches,
Graph &span_tree, vector<int> &centers)
void cv::findMaxSpanningTree(int num_images, const vector<MatchesInfo> &pairwise_matches,
Graph &span_tree, vector<int> &centers)
{
Graph graph(num_images);
vector<GraphEdge> edges;
@@ -600,5 +608,3 @@ void findMaxSpanningTree(int num_images, const vector<MatchesInfo> &pairwise_mat
centers.push_back(i);
CV_Assert(centers.size() > 0 && centers.size() <= 2);
}
} // namespace cv