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Open Source Computer Vision Library
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50 lines
1.8 KiB
50 lines
1.8 KiB
3 years ago
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from collections import OrderedDict
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import cv2 as cv
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import numpy as np
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from .stitching_error import StitchingError
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class CameraAdjuster:
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"""https://docs.opencv.org/master/d5/d56/classcv_1_1detail_1_1BundleAdjusterBase.html""" # noqa
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CAMERA_ADJUSTER_CHOICES = OrderedDict()
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CAMERA_ADJUSTER_CHOICES['ray'] = cv.detail_BundleAdjusterRay
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CAMERA_ADJUSTER_CHOICES['reproj'] = cv.detail_BundleAdjusterReproj
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CAMERA_ADJUSTER_CHOICES['affine'] = cv.detail_BundleAdjusterAffinePartial
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CAMERA_ADJUSTER_CHOICES['no'] = cv.detail_NoBundleAdjuster
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DEFAULT_CAMERA_ADJUSTER = list(CAMERA_ADJUSTER_CHOICES.keys())[0]
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DEFAULT_REFINEMENT_MASK = "xxxxx"
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def __init__(self,
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adjuster=DEFAULT_CAMERA_ADJUSTER,
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refinement_mask=DEFAULT_REFINEMENT_MASK):
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self.adjuster = CameraAdjuster.CAMERA_ADJUSTER_CHOICES[adjuster]()
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self.set_refinement_mask(refinement_mask)
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self.adjuster.setConfThresh(1)
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def set_refinement_mask(self, refinement_mask):
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mask_matrix = np.zeros((3, 3), np.uint8)
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if refinement_mask[0] == 'x':
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mask_matrix[0, 0] = 1
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if refinement_mask[1] == 'x':
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mask_matrix[0, 1] = 1
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if refinement_mask[2] == 'x':
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mask_matrix[0, 2] = 1
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if refinement_mask[3] == 'x':
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mask_matrix[1, 1] = 1
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if refinement_mask[4] == 'x':
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mask_matrix[1, 2] = 1
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self.adjuster.setRefinementMask(mask_matrix)
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def adjust(self, features, pairwise_matches, estimated_cameras):
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b, cameras = self.adjuster.apply(features,
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pairwise_matches,
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estimated_cameras)
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if not b:
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raise StitchingError("Camera parameters adjusting failed.")
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return cameras
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