mirror of
https://github.com/opencv/opencv.git
synced 2024-11-25 19:50:38 +08:00
refactored stitching module
This commit is contained in:
Alexey Spizhevoy
parent
9be4701f24
commit
fbe2e6fb01
@ -42,11 +42,24 @@
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#include "precomp.hpp"
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using namespace std;
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using namespace cv;
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namespace cv
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namespace
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{
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template<typename _Tp> static inline bool
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decomposeCholesky(_Tp* A, size_t astep, int m)
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{
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if (!Cholesky(A, astep, m, 0, 0, 0))
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return false;
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astep /= sizeof(A[0]);
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for (int i = 0; i < m; ++i)
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A[i*astep + i] = (_Tp)(1./A[i*astep + i]);
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return true;
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}
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} // namespace
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void focalsFromHomography(const Mat& H, double &f0, double &f1, bool &f0_ok, bool &f1_ok)
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void cv::focalsFromHomography(const Mat& H, double &f0, double &f1, bool &f0_ok, bool &f1_ok)
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{
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CV_Assert(H.type() == CV_64F && H.size() == Size(3, 3));
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@ -77,8 +90,8 @@ void focalsFromHomography(const Mat& H, double &f0, double &f1, bool &f0_ok, boo
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}
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void estimateFocal(const vector<ImageFeatures> &features, const vector<MatchesInfo> &pairwise_matches,
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vector<double> &focals)
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void cv::estimateFocal(const vector<ImageFeatures> &features, const vector<MatchesInfo> &pairwise_matches,
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vector<double> &focals)
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{
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const int num_images = static_cast<int>(features.size());
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focals.resize(num_images);
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@ -118,22 +131,7 @@ void estimateFocal(const vector<ImageFeatures> &features, const vector<MatchesIn
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}
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namespace
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{
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template<typename _Tp> static inline bool
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decomposeCholesky(_Tp* A, size_t astep, int m)
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{
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if (!Cholesky(A, astep, m, 0, 0, 0))
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return false;
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astep /= sizeof(A[0]);
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for (int i = 0; i < m; ++i)
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A[i*astep + i] = (_Tp)(1./A[i*astep + i]);
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return true;
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}
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} // namespace
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bool calibrateRotatingCamera(const vector<Mat> &Hs, Mat &K)
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bool cv::calibrateRotatingCamera(const vector<Mat> &Hs, Mat &K)
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{
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int m = static_cast<int>(Hs.size());
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CV_Assert(m >= 1);
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@ -183,5 +181,3 @@ bool calibrateRotatingCamera(const vector<Mat> &Hs, Mat &K)
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K = W.t();
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return true;
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}
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} // namespace cv
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@ -42,13 +42,11 @@
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#include "precomp.hpp"
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using namespace std;
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namespace cv
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{
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using namespace cv;
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static const float WEIGHT_EPS = 1e-5f;
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Ptr<Blender> Blender::createDefault(int type, bool try_gpu)
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Ptr<Blender> cv::Blender::createDefault(int type, bool try_gpu)
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{
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if (type == NO)
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return new Blender();
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@ -61,13 +59,13 @@ Ptr<Blender> Blender::createDefault(int type, bool try_gpu)
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}
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void Blender::prepare(const vector<Point> &corners, const vector<Size> &sizes)
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void cv::Blender::prepare(const vector<Point> &corners, const vector<Size> &sizes)
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{
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prepare(resultRoi(corners, sizes));
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}
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void Blender::prepare(Rect dst_roi)
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void cv::Blender::prepare(Rect dst_roi)
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{
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dst_.create(dst_roi.size(), CV_16SC3);
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dst_.setTo(Scalar::all(0));
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@ -77,7 +75,7 @@ void Blender::prepare(Rect dst_roi)
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}
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void Blender::feed(const Mat &img, const Mat &mask, Point tl)
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void cv::Blender::feed(const Mat &img, const Mat &mask, Point tl)
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{
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CV_Assert(img.type() == CV_16SC3);
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CV_Assert(mask.type() == CV_8U);
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@ -101,7 +99,7 @@ void Blender::feed(const Mat &img, const Mat &mask, Point tl)
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}
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void Blender::blend(Mat &dst, Mat &dst_mask)
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void cv::Blender::blend(Mat &dst, Mat &dst_mask)
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{
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dst_.setTo(Scalar::all(0), dst_mask_ == 0);
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dst = dst_;
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@ -111,7 +109,7 @@ void Blender::blend(Mat &dst, Mat &dst_mask)
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}
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void FeatherBlender::prepare(Rect dst_roi)
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void cv::FeatherBlender::prepare(Rect dst_roi)
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{
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Blender::prepare(dst_roi);
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dst_weight_map_.create(dst_roi.size(), CV_32F);
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@ -119,7 +117,7 @@ void FeatherBlender::prepare(Rect dst_roi)
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}
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void FeatherBlender::feed(const Mat &img, const Mat &mask, Point tl)
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void cv::FeatherBlender::feed(const Mat &img, const Mat &mask, Point tl)
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{
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CV_Assert(img.type() == CV_16SC3);
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CV_Assert(mask.type() == CV_8U);
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@ -146,7 +144,7 @@ void FeatherBlender::feed(const Mat &img, const Mat &mask, Point tl)
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}
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void FeatherBlender::blend(Mat &dst, Mat &dst_mask)
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void cv::FeatherBlender::blend(Mat &dst, Mat &dst_mask)
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{
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normalizeUsingWeightMap(dst_weight_map_, dst_);
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dst_mask_ = dst_weight_map_ > WEIGHT_EPS;
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@ -154,14 +152,14 @@ void FeatherBlender::blend(Mat &dst, Mat &dst_mask)
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}
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MultiBandBlender::MultiBandBlender(int try_gpu, int num_bands)
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cv::MultiBandBlender::MultiBandBlender(int try_gpu, int num_bands)
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{
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setNumBands(num_bands);
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can_use_gpu_ = try_gpu && gpu::getCudaEnabledDeviceCount();
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}
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void MultiBandBlender::prepare(Rect dst_roi)
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void cv::MultiBandBlender::prepare(Rect dst_roi)
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{
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dst_roi_final_ = dst_roi;
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@ -194,7 +192,7 @@ void MultiBandBlender::prepare(Rect dst_roi)
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}
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void MultiBandBlender::feed(const Mat &img, const Mat &mask, Point tl)
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void cv::MultiBandBlender::feed(const Mat &img, const Mat &mask, Point tl)
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{
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CV_Assert(img.type() == CV_16SC3);
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CV_Assert(mask.type() == CV_8U);
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@ -279,7 +277,7 @@ void MultiBandBlender::feed(const Mat &img, const Mat &mask, Point tl)
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}
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void MultiBandBlender::blend(Mat &dst, Mat &dst_mask)
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void cv::MultiBandBlender::blend(Mat &dst, Mat &dst_mask)
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{
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for (int i = 0; i <= num_bands_; ++i)
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normalizeUsingWeightMap(dst_band_weights_[i], dst_pyr_laplace_[i]);
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@ -300,7 +298,7 @@ void MultiBandBlender::blend(Mat &dst, Mat &dst_mask)
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//////////////////////////////////////////////////////////////////////////////
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// Auxiliary functions
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void normalizeUsingWeightMap(const Mat& weight, Mat& src)
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void cv::normalizeUsingWeightMap(const Mat& weight, Mat& src)
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{
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CV_Assert(weight.type() == CV_32F);
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CV_Assert(src.type() == CV_16SC3);
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@ -319,7 +317,7 @@ void normalizeUsingWeightMap(const Mat& weight, Mat& src)
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}
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void createWeightMap(const Mat &mask, float sharpness, Mat &weight)
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void cv::createWeightMap(const Mat &mask, float sharpness, Mat &weight)
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{
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CV_Assert(mask.type() == CV_8U);
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distanceTransform(mask, weight, CV_DIST_L1, 3);
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@ -327,7 +325,7 @@ void createWeightMap(const Mat &mask, float sharpness, Mat &weight)
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}
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void createLaplacePyr(const Mat &img, int num_levels, vector<Mat> &pyr)
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void cv::createLaplacePyr(const Mat &img, int num_levels, vector<Mat> &pyr)
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{
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pyr.resize(num_levels + 1);
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pyr[0] = img;
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@ -342,7 +340,7 @@ void createLaplacePyr(const Mat &img, int num_levels, vector<Mat> &pyr)
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}
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void createLaplacePyrGpu(const Mat &img, int num_levels, vector<Mat> &pyr)
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void cv::createLaplacePyrGpu(const Mat &img, int num_levels, vector<Mat> &pyr)
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{
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pyr.resize(num_levels + 1);
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@ -363,7 +361,7 @@ void createLaplacePyrGpu(const Mat &img, int num_levels, vector<Mat> &pyr)
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}
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void restoreImageFromLaplacePyr(vector<Mat> &pyr)
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void cv::restoreImageFromLaplacePyr(vector<Mat> &pyr)
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{
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if (pyr.size() == 0)
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return;
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@ -374,5 +372,3 @@ void restoreImageFromLaplacePyr(vector<Mat> &pyr)
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add(tmp, pyr[i - 1], pyr[i - 1]);
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}
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}
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} // namespace cv
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@ -1,20 +1,16 @@
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#include "precomp.hpp"
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using namespace std;
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using namespace cv;
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namespace cv
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{
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cv::CameraParams::CameraParams() : focal(1), R(Mat::eye(3, 3, CV_64F)), t(Mat::zeros(3, 1, CV_64F)) {}
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CameraParams::CameraParams() : focal(1), R(Mat::eye(3, 3, CV_64F)), t(Mat::zeros(3, 1, CV_64F)) {}
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cv::CameraParams::CameraParams(const CameraParams &other) { *this = other; }
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CameraParams::CameraParams(const CameraParams &other) { *this = other; }
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const CameraParams& CameraParams::operator =(const CameraParams &other)
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const cv::CameraParams& CameraParams::operator =(const CameraParams &other)
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{
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focal = other.focal;
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R = other.R.clone();
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t = other.t.clone();
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return *this;
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}
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} // namespace cv
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@ -42,12 +42,10 @@
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#include "precomp.hpp"
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using namespace std;
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using namespace cv;
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using namespace cv::gpu;
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namespace cv
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{
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Ptr<ExposureCompensator> ExposureCompensator::createDefault(int type)
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Ptr<ExposureCompensator> cv::ExposureCompensator::createDefault(int type)
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{
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if (type == NO)
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return new NoExposureCompensator();
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@ -60,8 +58,8 @@ Ptr<ExposureCompensator> ExposureCompensator::createDefault(int type)
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}
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void ExposureCompensator::feed(const vector<Point> &corners, const vector<Mat> &images,
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const vector<Mat> &masks)
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void cv::ExposureCompensator::feed(const vector<Point> &corners, const vector<Mat> &images,
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const vector<Mat> &masks)
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{
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vector<pair<Mat,uchar> > level_masks;
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for (size_t i = 0; i < masks.size(); ++i)
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@ -70,8 +68,8 @@ void ExposureCompensator::feed(const vector<Point> &corners, const vector<Mat> &
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}
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void GainCompensator::feed(const vector<Point> &corners, const vector<Mat> &images,
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const vector<pair<Mat,uchar> > &masks)
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void cv::GainCompensator::feed(const vector<Point> &corners, const vector<Mat> &images,
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const vector<pair<Mat,uchar> > &masks)
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{
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LOGLN("Exposure compensation...");
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int64 t = getTickCount();
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@ -145,13 +143,13 @@ void GainCompensator::feed(const vector<Point> &corners, const vector<Mat> &imag
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}
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void GainCompensator::apply(int index, Point /*corner*/, Mat &image, const Mat &/*mask*/)
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void cv::GainCompensator::apply(int index, Point /*corner*/, Mat &image, const Mat &/*mask*/)
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{
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image *= gains_(index, 0);
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}
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vector<double> GainCompensator::gains() const
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vector<double> cv::GainCompensator::gains() const
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{
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vector<double> gains_vec(gains_.rows);
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for (int i = 0; i < gains_.rows; ++i)
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@ -160,8 +158,8 @@ vector<double> GainCompensator::gains() const
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}
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void BlocksGainCompensator::feed(const vector<Point> &corners, const vector<Mat> &images,
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const vector<pair<Mat,uchar> > &masks)
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void cv::BlocksGainCompensator::feed(const vector<Point> &corners, const vector<Mat> &images,
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const vector<pair<Mat,uchar> > &masks)
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{
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CV_Assert(corners.size() == images.size() && images.size() == masks.size());
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@ -220,7 +218,7 @@ void BlocksGainCompensator::feed(const vector<Point> &corners, const vector<Mat>
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}
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void BlocksGainCompensator::apply(int index, Point /*corner*/, Mat &image, const Mat &/*mask*/)
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void cv::BlocksGainCompensator::apply(int index, Point /*corner*/, Mat &image, const Mat &/*mask*/)
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{
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CV_Assert(image.type() == CV_8UC3);
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@ -242,5 +240,3 @@ void BlocksGainCompensator::apply(int index, Point /*corner*/, Mat &image, const
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}
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}
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}
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} // namespace cv
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@ -42,25 +42,19 @@
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#include "precomp.hpp"
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using namespace std;
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using namespace cv;
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using namespace cv::gpu;
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namespace cv
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{
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void FeaturesFinder::operator ()(const Mat &image, ImageFeatures &features)
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void cv::FeaturesFinder::operator ()(const Mat &image, ImageFeatures &features)
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{
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find(image, features);
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features.img_size = image.size();
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//features.img = image.clone();
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}
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} // namespace cv
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namespace
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{
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using namespace cv;
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class CpuSurfFeaturesFinder : public FeaturesFinder
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{
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public:
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@ -155,10 +149,7 @@ namespace
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} // namespace
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namespace cv
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{
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SurfFeaturesFinder::SurfFeaturesFinder(bool try_use_gpu, double hess_thresh, int num_octaves, int num_layers,
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cv::SurfFeaturesFinder::SurfFeaturesFinder(bool try_use_gpu, double hess_thresh, int num_octaves, int num_layers,
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int num_octaves_descr, int num_layers_descr)
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{
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if (try_use_gpu && getCudaEnabledDeviceCount() > 0)
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@ -168,12 +159,12 @@ SurfFeaturesFinder::SurfFeaturesFinder(bool try_use_gpu, double hess_thresh, int
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}
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void SurfFeaturesFinder::find(const Mat &image, ImageFeatures &features)
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void cv::SurfFeaturesFinder::find(const Mat &image, ImageFeatures &features)
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{
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(*impl_)(image, features);
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}
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void SurfFeaturesFinder::releaseMemory()
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void cv::SurfFeaturesFinder::releaseMemory()
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{
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impl_->releaseMemory();
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}
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@ -181,11 +172,11 @@ void SurfFeaturesFinder::releaseMemory()
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//////////////////////////////////////////////////////////////////////////////
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MatchesInfo::MatchesInfo() : src_img_idx(-1), dst_img_idx(-1), num_inliers(0), confidence(0) {}
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cv::MatchesInfo::MatchesInfo() : src_img_idx(-1), dst_img_idx(-1), num_inliers(0), confidence(0) {}
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MatchesInfo::MatchesInfo(const MatchesInfo &other) { *this = other; }
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cv::MatchesInfo::MatchesInfo(const MatchesInfo &other) { *this = other; }
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const MatchesInfo& MatchesInfo::operator =(const MatchesInfo &other)
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const cv::MatchesInfo& MatchesInfo::operator =(const MatchesInfo &other)
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{
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src_img_idx = other.src_img_idx;
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dst_img_idx = other.dst_img_idx;
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@ -200,65 +191,69 @@ const MatchesInfo& MatchesInfo::operator =(const MatchesInfo &other)
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//////////////////////////////////////////////////////////////////////////////
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struct DistIdxPair
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namespace
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{
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bool operator<(const DistIdxPair &other) const { return dist < other.dist; }
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double dist;
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int idx;
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};
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struct MatchPairsBody
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{
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MatchPairsBody(const MatchPairsBody& other)
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: matcher(other.matcher), features(other.features),
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pairwise_matches(other.pairwise_matches), near_pairs(other.near_pairs) {}
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MatchPairsBody(FeaturesMatcher &matcher, const vector<ImageFeatures> &features,
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vector<MatchesInfo> &pairwise_matches, vector<pair<int,int> > &near_pairs)
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: matcher(matcher), features(features),
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pairwise_matches(pairwise_matches), near_pairs(near_pairs) {}
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void operator ()(const BlockedRange &r) const
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struct DistIdxPair
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{
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const int num_images = static_cast<int>(features.size());
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for (int i = r.begin(); i < r.end(); ++i)
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bool operator<(const DistIdxPair &other) const { return dist < other.dist; }
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double dist;
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int idx;
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};
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struct MatchPairsBody
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{
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MatchPairsBody(const MatchPairsBody& other)
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: matcher(other.matcher), features(other.features),
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pairwise_matches(other.pairwise_matches), near_pairs(other.near_pairs) {}
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MatchPairsBody(FeaturesMatcher &matcher, const vector<ImageFeatures> &features,
|
||||
vector<MatchesInfo> &pairwise_matches, vector<pair<int,int> > &near_pairs)
|
||||
: matcher(matcher), features(features),
|
||||
pairwise_matches(pairwise_matches), near_pairs(near_pairs) {}
|
||||
|
||||
void operator ()(const BlockedRange &r) const
|
||||
{
|
||||
int from = near_pairs[i].first;
|
||||
int to = near_pairs[i].second;
|
||||
int pair_idx = from*num_images + to;
|
||||
const int num_images = static_cast<int>(features.size());
|
||||
for (int i = r.begin(); i < r.end(); ++i)
|
||||
{
|
||||
int from = near_pairs[i].first;
|
||||
int to = near_pairs[i].second;
|
||||
int pair_idx = from*num_images + to;
|
||||
|
||||
matcher(features[from], features[to], pairwise_matches[pair_idx]);
|
||||
pairwise_matches[pair_idx].src_img_idx = from;
|
||||
pairwise_matches[pair_idx].dst_img_idx = to;
|
||||
matcher(features[from], features[to], pairwise_matches[pair_idx]);
|
||||
pairwise_matches[pair_idx].src_img_idx = from;
|
||||
pairwise_matches[pair_idx].dst_img_idx = to;
|
||||
|
||||
size_t dual_pair_idx = to*num_images + from;
|
||||
size_t dual_pair_idx = to*num_images + from;
|
||||
|
||||
pairwise_matches[dual_pair_idx] = pairwise_matches[pair_idx];
|
||||
pairwise_matches[dual_pair_idx].src_img_idx = to;
|
||||
pairwise_matches[dual_pair_idx].dst_img_idx = from;
|
||||
pairwise_matches[dual_pair_idx] = pairwise_matches[pair_idx];
|
||||
pairwise_matches[dual_pair_idx].src_img_idx = to;
|
||||
pairwise_matches[dual_pair_idx].dst_img_idx = from;
|
||||
|
||||
if (!pairwise_matches[pair_idx].H.empty())
|
||||
pairwise_matches[dual_pair_idx].H = pairwise_matches[pair_idx].H.inv();
|
||||
if (!pairwise_matches[pair_idx].H.empty())
|
||||
pairwise_matches[dual_pair_idx].H = pairwise_matches[pair_idx].H.inv();
|
||||
|
||||
for (size_t j = 0; j < pairwise_matches[dual_pair_idx].matches.size(); ++j)
|
||||
std::swap(pairwise_matches[dual_pair_idx].matches[j].queryIdx,
|
||||
pairwise_matches[dual_pair_idx].matches[j].trainIdx);
|
||||
LOG(".");
|
||||
for (size_t j = 0; j < pairwise_matches[dual_pair_idx].matches.size(); ++j)
|
||||
std::swap(pairwise_matches[dual_pair_idx].matches[j].queryIdx,
|
||||
pairwise_matches[dual_pair_idx].matches[j].trainIdx);
|
||||
LOG(".");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
FeaturesMatcher &matcher;
|
||||
const vector<ImageFeatures> &features;
|
||||
vector<MatchesInfo> &pairwise_matches;
|
||||
vector<pair<int,int> > &near_pairs;
|
||||
FeaturesMatcher &matcher;
|
||||
const vector<ImageFeatures> &features;
|
||||
vector<MatchesInfo> &pairwise_matches;
|
||||
vector<pair<int,int> > &near_pairs;
|
||||
|
||||
private:
|
||||
void operator =(const MatchPairsBody&);
|
||||
};
|
||||
private:
|
||||
void operator =(const MatchPairsBody&);
|
||||
};
|
||||
} // namespace
|
||||
|
||||
|
||||
void FeaturesMatcher::operator ()(const vector<ImageFeatures> &features, vector<MatchesInfo> &pairwise_matches)
|
||||
void cv::FeaturesMatcher::operator ()(const vector<ImageFeatures> &features, vector<MatchesInfo> &pairwise_matches)
|
||||
{
|
||||
const int num_images = static_cast<int>(features.size());
|
||||
|
||||
@ -408,10 +403,10 @@ namespace
|
||||
vector< vector<DMatch> >().swap(pair_matches);
|
||||
}
|
||||
|
||||
} // anonymous namespace
|
||||
} // namespace
|
||||
|
||||
|
||||
BestOf2NearestMatcher::BestOf2NearestMatcher(bool try_use_gpu, float match_conf, int num_matches_thresh1, int num_matches_thresh2)
|
||||
cv::BestOf2NearestMatcher::BestOf2NearestMatcher(bool try_use_gpu, float match_conf, int num_matches_thresh1, int num_matches_thresh2)
|
||||
{
|
||||
if (try_use_gpu && getCudaEnabledDeviceCount() > 0)
|
||||
impl_ = new GpuMatcher(match_conf);
|
||||
@ -424,7 +419,7 @@ BestOf2NearestMatcher::BestOf2NearestMatcher(bool try_use_gpu, float match_conf,
|
||||
}
|
||||
|
||||
|
||||
void BestOf2NearestMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2,
|
||||
void cv::BestOf2NearestMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2,
|
||||
MatchesInfo &matches_info)
|
||||
{
|
||||
(*impl_)(features1, features2, matches_info);
|
||||
@ -502,9 +497,7 @@ void BestOf2NearestMatcher::match(const ImageFeatures &features1, const ImageFea
|
||||
matches_info.H = findHomography(src_points, dst_points, CV_RANSAC);
|
||||
}
|
||||
|
||||
void BestOf2NearestMatcher::releaseMemory()
|
||||
void cv::BestOf2NearestMatcher::releaseMemory()
|
||||
{
|
||||
impl_->releaseMemory();
|
||||
}
|
||||
|
||||
} // namespace cv
|
||||
|
||||
@ -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> ¢ers)
|
||||
void cv::findMaxSpanningTree(int num_images, const vector<MatchesInfo> &pairwise_matches,
|
||||
Graph &span_tree, vector<int> ¢ers)
|
||||
{
|
||||
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
|
||||
|
||||
@ -42,11 +42,9 @@
|
||||
#include "precomp.hpp"
|
||||
|
||||
using namespace std;
|
||||
using namespace cv;
|
||||
|
||||
namespace cv
|
||||
{
|
||||
|
||||
Ptr<SeamFinder> SeamFinder::createDefault(int type)
|
||||
Ptr<SeamFinder> cv::SeamFinder::createDefault(int type)
|
||||
{
|
||||
if (type == NO)
|
||||
return new NoSeamFinder();
|
||||
@ -61,8 +59,8 @@ Ptr<SeamFinder> SeamFinder::createDefault(int type)
|
||||
}
|
||||
|
||||
|
||||
void PairwiseSeamFinder::find(const vector<Mat> &src, const vector<Point> &corners,
|
||||
vector<Mat> &masks)
|
||||
void cv::PairwiseSeamFinder::find(const vector<Mat> &src, const vector<Point> &corners,
|
||||
vector<Mat> &masks)
|
||||
{
|
||||
LOGLN("Finding seams...");
|
||||
int64 t = getTickCount();
|
||||
@ -88,7 +86,7 @@ void PairwiseSeamFinder::find(const vector<Mat> &src, const vector<Point> &corne
|
||||
}
|
||||
|
||||
|
||||
void VoronoiSeamFinder::findInPair(size_t first, size_t second, Rect roi)
|
||||
void cv::VoronoiSeamFinder::findInPair(size_t first, size_t second, Rect roi)
|
||||
{
|
||||
const int gap = 10;
|
||||
Mat submask1(roi.height + 2 * gap, roi.width + 2 * gap, CV_8U);
|
||||
@ -142,7 +140,7 @@ void VoronoiSeamFinder::findInPair(size_t first, size_t second, Rect roi)
|
||||
}
|
||||
|
||||
|
||||
class GraphCutSeamFinder::Impl : public PairwiseSeamFinder
|
||||
class cv::GraphCutSeamFinder::Impl : public PairwiseSeamFinder
|
||||
{
|
||||
public:
|
||||
Impl(int cost_type, float terminal_cost, float bad_region_penalty)
|
||||
@ -165,8 +163,8 @@ private:
|
||||
};
|
||||
|
||||
|
||||
void GraphCutSeamFinder::Impl::find(const vector<Mat> &src, const vector<Point> &corners,
|
||||
vector<Mat> &masks)
|
||||
void cv::GraphCutSeamFinder::Impl::find(const vector<Mat> &src, const vector<Point> &corners,
|
||||
vector<Mat> &masks)
|
||||
{
|
||||
// Compute gradients
|
||||
dx_.resize(src.size());
|
||||
@ -196,8 +194,8 @@ void GraphCutSeamFinder::Impl::find(const vector<Mat> &src, const vector<Point>
|
||||
}
|
||||
|
||||
|
||||
void GraphCutSeamFinder::Impl::setGraphWeightsColor(const Mat &img1, const Mat &img2,
|
||||
const Mat &mask1, const Mat &mask2, GCGraph<float> &graph)
|
||||
void cv::GraphCutSeamFinder::Impl::setGraphWeightsColor(const Mat &img1, const Mat &img2,
|
||||
const Mat &mask1, const Mat &mask2, GCGraph<float> &graph)
|
||||
{
|
||||
const Size img_size = img1.size();
|
||||
|
||||
@ -244,7 +242,7 @@ void GraphCutSeamFinder::Impl::setGraphWeightsColor(const Mat &img1, const Mat &
|
||||
}
|
||||
|
||||
|
||||
void GraphCutSeamFinder::Impl::setGraphWeightsColorGrad(
|
||||
void cv::GraphCutSeamFinder::Impl::setGraphWeightsColorGrad(
|
||||
const Mat &img1, const Mat &img2, const Mat &dx1, const Mat &dx2,
|
||||
const Mat &dy1, const Mat &dy2, const Mat &mask1, const Mat &mask2,
|
||||
GCGraph<float> &graph)
|
||||
@ -298,7 +296,7 @@ void GraphCutSeamFinder::Impl::setGraphWeightsColorGrad(
|
||||
}
|
||||
|
||||
|
||||
void GraphCutSeamFinder::Impl::findInPair(size_t first, size_t second, Rect roi)
|
||||
void cv::GraphCutSeamFinder::Impl::findInPair(size_t first, size_t second, Rect roi)
|
||||
{
|
||||
Mat img1 = images_[first], img2 = images_[second];
|
||||
Mat dx1 = dx_[first], dx2 = dx_[second];
|
||||
@ -396,14 +394,12 @@ void GraphCutSeamFinder::Impl::findInPair(size_t first, size_t second, Rect roi)
|
||||
}
|
||||
|
||||
|
||||
GraphCutSeamFinder::GraphCutSeamFinder(int cost_type, float terminal_cost, float bad_region_penalty)
|
||||
cv::GraphCutSeamFinder::GraphCutSeamFinder(int cost_type, float terminal_cost, float bad_region_penalty)
|
||||
: impl_(new Impl(cost_type, terminal_cost, bad_region_penalty)) {}
|
||||
|
||||
|
||||
void GraphCutSeamFinder::find(const vector<Mat> &src, const vector<Point> &corners,
|
||||
void cv::GraphCutSeamFinder::find(const vector<Mat> &src, const vector<Point> &corners,
|
||||
vector<Mat> &masks)
|
||||
{
|
||||
impl_->find(src, corners, masks);
|
||||
}
|
||||
|
||||
} // namespace cv
|
||||
|
||||
@ -42,11 +42,9 @@
|
||||
#include "precomp.hpp"
|
||||
|
||||
using namespace std;
|
||||
using namespace cv;
|
||||
|
||||
namespace cv
|
||||
{
|
||||
|
||||
void DisjointSets::createOneElemSets(int n)
|
||||
void cv::DisjointSets::createOneElemSets(int n)
|
||||
{
|
||||
rank_.assign(n, 0);
|
||||
size.assign(n, 1);
|
||||
@ -56,7 +54,7 @@ void DisjointSets::createOneElemSets(int n)
|
||||
}
|
||||
|
||||
|
||||
int DisjointSets::findSetByElem(int elem)
|
||||
int cv::DisjointSets::findSetByElem(int elem)
|
||||
{
|
||||
int set = elem;
|
||||
while (set != parent[set])
|
||||
@ -72,7 +70,7 @@ int DisjointSets::findSetByElem(int elem)
|
||||
}
|
||||
|
||||
|
||||
int DisjointSets::mergeSets(int set1, int set2)
|
||||
int cv::DisjointSets::mergeSets(int set1, int set2)
|
||||
{
|
||||
if (rank_[set1] < rank_[set2])
|
||||
{
|
||||
@ -93,13 +91,13 @@ int DisjointSets::mergeSets(int set1, int set2)
|
||||
}
|
||||
|
||||
|
||||
void Graph::addEdge(int from, int to, float weight)
|
||||
void cv::Graph::addEdge(int from, int to, float weight)
|
||||
{
|
||||
edges_[from].push_back(GraphEdge(from, to, weight));
|
||||
}
|
||||
|
||||
|
||||
bool overlapRoi(Point tl1, Point tl2, Size sz1, Size sz2, Rect &roi)
|
||||
bool cv::overlapRoi(Point tl1, Point tl2, Size sz1, Size sz2, Rect &roi)
|
||||
{
|
||||
int x_tl = max(tl1.x, tl2.x);
|
||||
int y_tl = max(tl1.y, tl2.y);
|
||||
@ -114,7 +112,7 @@ bool overlapRoi(Point tl1, Point tl2, Size sz1, Size sz2, Rect &roi)
|
||||
}
|
||||
|
||||
|
||||
Rect resultRoi(const vector<Point> &corners, const vector<Mat> &images)
|
||||
Rect cv::resultRoi(const vector<Point> &corners, const vector<Mat> &images)
|
||||
{
|
||||
vector<Size> sizes(images.size());
|
||||
for (size_t i = 0; i < images.size(); ++i)
|
||||
@ -123,7 +121,7 @@ Rect resultRoi(const vector<Point> &corners, const vector<Mat> &images)
|
||||
}
|
||||
|
||||
|
||||
Rect resultRoi(const vector<Point> &corners, const vector<Size> &sizes)
|
||||
Rect cv::resultRoi(const vector<Point> &corners, const vector<Size> &sizes)
|
||||
{
|
||||
CV_Assert(sizes.size() == corners.size());
|
||||
Point tl(numeric_limits<int>::max(), numeric_limits<int>::max());
|
||||
@ -139,7 +137,7 @@ Rect resultRoi(const vector<Point> &corners, const vector<Size> &sizes)
|
||||
}
|
||||
|
||||
|
||||
Point resultTl(const vector<Point> &corners)
|
||||
Point cv::resultTl(const vector<Point> &corners)
|
||||
{
|
||||
Point tl(numeric_limits<int>::max(), numeric_limits<int>::max());
|
||||
for (size_t i = 0; i < corners.size(); ++i)
|
||||
@ -151,7 +149,7 @@ Point resultTl(const vector<Point> &corners)
|
||||
}
|
||||
|
||||
|
||||
void selectRandomSubset(int count, int size, vector<int> &subset)
|
||||
void cv::selectRandomSubset(int count, int size, vector<int> &subset)
|
||||
{
|
||||
subset.clear();
|
||||
for (int i = 0; i < size; ++i)
|
||||
@ -163,5 +161,3 @@ void selectRandomSubset(int count, int size, vector<int> &subset)
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
} // namespace cv
|
||||
|
||||
@ -42,11 +42,9 @@
|
||||
#include "precomp.hpp"
|
||||
|
||||
using namespace std;
|
||||
using namespace cv;
|
||||
|
||||
namespace cv
|
||||
{
|
||||
|
||||
Ptr<Warper> Warper::createByCameraFocal(float focal, int type, bool try_gpu)
|
||||
Ptr<Warper> cv::Warper::createByCameraFocal(float focal, int type, bool try_gpu)
|
||||
{
|
||||
bool can_use_gpu = try_gpu && gpu::getCudaEnabledDeviceCount();
|
||||
if (type == PLANE)
|
||||
@ -60,7 +58,7 @@ Ptr<Warper> Warper::createByCameraFocal(float focal, int type, bool try_gpu)
|
||||
}
|
||||
|
||||
|
||||
void ProjectorBase::setTransformation(const Mat &R)
|
||||
void cv::ProjectorBase::setTransformation(const Mat &R)
|
||||
{
|
||||
CV_Assert(R.size() == Size(3, 3));
|
||||
CV_Assert(R.type() == CV_32F);
|
||||
@ -75,7 +73,7 @@ void ProjectorBase::setTransformation(const Mat &R)
|
||||
}
|
||||
|
||||
|
||||
void PlaneWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
|
||||
void cv::PlaneWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
|
||||
{
|
||||
float tl_uf = numeric_limits<float>::max();
|
||||
float tl_vf = numeric_limits<float>::max();
|
||||
@ -107,7 +105,7 @@ void PlaneWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
|
||||
}
|
||||
|
||||
|
||||
Point PlaneWarperGpu::warp(const Mat &src, float focal, const cv::Mat &R, cv::Mat &dst, int interp_mode, int border_mode)
|
||||
Point cv::PlaneWarperGpu::warp(const Mat &src, float focal, const cv::Mat &R, cv::Mat &dst, int interp_mode, int border_mode)
|
||||
{
|
||||
src_size_ = src.size();
|
||||
projector_.size = src.size();
|
||||
@ -133,7 +131,7 @@ Point PlaneWarperGpu::warp(const Mat &src, float focal, const cv::Mat &R, cv::Ma
|
||||
}
|
||||
|
||||
|
||||
void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
|
||||
void cv::SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
|
||||
{
|
||||
detectResultRoiByBorder(dst_tl, dst_br);
|
||||
|
||||
@ -177,8 +175,8 @@ void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
|
||||
}
|
||||
|
||||
|
||||
Point SphericalWarperGpu::warp(const Mat &src, float focal, const Mat &R, Mat &dst,
|
||||
int interp_mode, int border_mode)
|
||||
Point cv::SphericalWarperGpu::warp(const Mat &src, float focal, const Mat &R, Mat &dst,
|
||||
int interp_mode, int border_mode)
|
||||
{
|
||||
src_size_ = src.size();
|
||||
projector_.size = src.size();
|
||||
@ -204,8 +202,8 @@ Point SphericalWarperGpu::warp(const Mat &src, float focal, const Mat &R, Mat &d
|
||||
}
|
||||
|
||||
|
||||
Point CylindricalWarperGpu::warp(const Mat &src, float focal, const Mat &R, Mat &dst,
|
||||
int interp_mode, int border_mode)
|
||||
Point cv::CylindricalWarperGpu::warp(const Mat &src, float focal, const Mat &R, Mat &dst,
|
||||
int interp_mode, int border_mode)
|
||||
{
|
||||
src_size_ = src.size();
|
||||
projector_.size = src.size();
|
||||
@ -230,4 +228,3 @@ Point CylindricalWarperGpu::warp(const Mat &src, float focal, const Mat &R, Mat
|
||||
return dst_tl;
|
||||
}
|
||||
|
||||
} // namespace cv
|
||||
|
||||
Loading…
Reference in New Issue
Block a user