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Make stitching panoramas reusable after estimating transform once

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Stitcher will now make a working copy of the CameraParams object to avoid side effects when composing Panorama.
Makes it possible to estimate transform once and then compose multiple panoramas. Useful for setup with fixed cameras.
This commit is contained in:
Alexander Broemmer 2017-03-23 19:16:57 +01:00
parent bcac7bd6d2
commit 30d26acee0
1 changed files with 10 additions and 8 deletions
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18
modules/stitching/src/stitcher.cpp
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@ -261,6 +261,8 @@ Stitcher::Status Stitcher::composePanorama(InputArrayOfArrays images, OutputArra
double compose_scale = 1;
bool is_compose_scale_set = false;
std::vector<detail::CameraParams> cameras_scaled(cameras_);
UMat full_img, img;
for (size_t img_idx = 0; img_idx < imgs_.size(); ++img_idx)
{
@ -282,16 +284,16 @@ Stitcher::Status Stitcher::composePanorama(InputArrayOfArrays images, OutputArra
compose_work_aspect = compose_scale / work_scale_;
// Update warped image scale
warped_image_scale_ *= static_cast<float>(compose_work_aspect);
w = warper_->create((float)warped_image_scale_);
float warp_scale = static_cast<float>(warped_image_scale_ * compose_work_aspect);
w = warper_->create(warp_scale);
// Update corners and sizes
for (size_t i = 0; i < imgs_.size(); ++i)
{
// Update intrinsics
cameras_[i].focal *= compose_work_aspect;
cameras_[i].ppx *= compose_work_aspect;
cameras_[i].ppy *= compose_work_aspect;
cameras_scaled[i].ppx *= compose_work_aspect;
cameras_scaled[i].ppy *= compose_work_aspect;
cameras_scaled[i].focal *= compose_work_aspect;
// Update corner and size
Size sz = full_img_sizes_[i];
@ -302,8 +304,8 @@ Stitcher::Status Stitcher::composePanorama(InputArrayOfArrays images, OutputArra
}
Mat K;
cameras_[i].K().convertTo(K, CV_32F);
Rect roi = w->warpRoi(sz, K, cameras_[i].R);
cameras_scaled[i].K().convertTo(K, CV_32F);
Rect roi = w->warpRoi(sz, K, cameras_scaled[i].R);
corners[i] = roi.tl();
sizes[i] = roi.size();
}
@ -324,7 +326,7 @@ Stitcher::Status Stitcher::composePanorama(InputArrayOfArrays images, OutputArra
LOGLN(" after resize time: " << ((getTickCount() - compositing_t) / getTickFrequency()) << " sec");
Mat K;
cameras_[img_idx].K().convertTo(K, CV_32F);
cameras_scaled[img_idx].K().convertTo(K, CV_32F);
#if ENABLE_LOG
int64 pt = getTickCount();