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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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modules/stitching/motion_estimators.cpp
+40 -12
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@@ -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,