refactored opencv_stitching

modules/stitching/autocalib.cpp

@@ -1,4 +1,4 @@
-#include "focal_estimators.hpp"
+#include "autocalib.hpp"
 #include "util.hpp"
 
 using namespace std;

modules/stitching/autocalib.hpp

@@ -1,5 +1,5 @@
-#ifndef __OPENCV_FOCAL_ESTIMATORS_HPP__
-#define __OPENCV_FOCAL_ESTIMATORS_HPP__
+#ifndef __OPENCV_AUTOCALIB_HPP__
+#define __OPENCV_AUTOCALIB_HPP__
 
 #include <opencv2/core/core.hpp>
 
@@ -9,4 +9,4 @@ void focalsFromHomography(const cv::Mat &H, double &f0, double &f1, bool &f0_ok,
 
 bool focalsFromFundamental(const cv::Mat &F, double &f0, double &f1);
 
-#endif // __OPENCV_FOCAL_ESTIMATORS_HPP__
+#endif // __OPENCV_AUTOCALIB_HPP__

modules/stitching/main.cpp

@@ -181,8 +181,8 @@ int main(int argc, char* argv[])
     for (size_t i = 0; i < cameras.size(); ++i)
     {
         Mat R;
-        cameras[i].M.convertTo(R, CV_32F);
-        cameras[i].M = R;
+        cameras[i].R.convertTo(R, CV_32F);
+        cameras[i].R = R;
         LOGLN("Initial focal length " << i << ": " << cameras[i].focal);
     }
 
@@ -195,10 +195,10 @@ int main(int argc, char* argv[])
         LOGLN("Wave correcting...");
         vector<Mat> rmats;
         for (size_t i = 0; i < cameras.size(); ++i)
-            rmats.push_back(cameras[i].M);
+            rmats.push_back(cameras[i].R);
         waveCorrect(rmats);
         for (size_t i = 0; i < cameras.size(); ++i)
-            cameras[i].M = rmats[i];
+            cameras[i].R = rmats[i];
     }
 
     // Find median focal length
@@ -226,8 +226,8 @@ int main(int argc, char* argv[])
     Ptr<Warper> warper = Warper::createByCameraFocal(camera_focal, warp_type);
     for (int i = 0; i < num_images; ++i)
     {
-        corners[i] = (*warper)(images[i], static_cast<float>(cameras[i].focal), cameras[i].M, images_warped[i]);
-        (*warper)(masks[i], static_cast<float>(cameras[i].focal), cameras[i].M, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT);
+        corners[i] = (*warper)(images[i], static_cast<float>(cameras[i].focal), cameras[i].R, images_warped[i]);
+        (*warper)(masks[i], static_cast<float>(cameras[i].focal), cameras[i].R, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT);
     }
     vector<Mat> images_f(num_images);
     for (int i = 0; i < num_images; ++i)

modules/stitching/matchers.cpp

@@ -303,14 +303,14 @@ void BestOf2NearestMatcher::match(const Mat &img1, const ImageFeatures &features
     Mat dst_points(1, matches_info.matches.size(), CV_32FC2);
     for (size_t i = 0; i < matches_info.matches.size(); ++i)
     {
-        const DMatch& m = matches_info.matches[i];
+        const DMatch& r = matches_info.matches[i];
 
-        Point2f p = features1.keypoints[m.queryIdx].pt;
+        Point2f p = features1.keypoints[r.queryIdx].pt;
         p.x -= img1.cols * 0.5f;
         p.y -= img1.rows * 0.5f;
         src_points.at<Point2f>(0, i) = p;
 
-        p = features2.keypoints[m.trainIdx].pt;
+        p = features2.keypoints[r.trainIdx].pt;
         p.x -= img2.cols * 0.5f;
         p.y -= img2.rows * 0.5f;
         dst_points.at<Point2f>(0, i) = p;
@@ -338,14 +338,14 @@ void BestOf2NearestMatcher::match(const Mat &img1, const ImageFeatures &features
         if (!matches_info.inliers_mask[i])
             continue;
 
-        const DMatch& m = matches_info.matches[i];
+        const DMatch& r = matches_info.matches[i];
 
-        Point2f p = features1.keypoints[m.queryIdx].pt;
+        Point2f p = features1.keypoints[r.queryIdx].pt;
         p.x -= img1.cols * 0.5f;
         p.y -= img2.rows * 0.5f;
         src_points.at<Point2f>(0, inlier_idx) = p;
 
-        p = features2.keypoints[m.trainIdx].pt;
+        p = features2.keypoints[r.trainIdx].pt;
         p.x -= img2.cols * 0.5f;
         p.y -= img2.rows * 0.5f;
         dst_points.at<Point2f>(0, inlier_idx) = p;

modules/stitching/motion_estimators.cpp

@@ -1,7 +1,7 @@
 #include <algorithm>
 #include "opencv2/core/core_c.h"
 #include <opencv2/calib3d/calib3d.hpp>
-#include "focal_estimators.hpp"
+#include "autocalib.hpp"
 #include "motion_estimators.hpp"
 #include "util.hpp"
 
@@ -11,7 +11,7 @@ using namespace cv;
 
 //////////////////////////////////////////////////////////////////////////////
 
-CameraParams::CameraParams() : focal(1), M(Mat::eye(3, 3, CV_64F)), t(Mat::zeros(3, 1, CV_64F)) {}
+CameraParams::CameraParams() : focal(1), R(Mat::eye(3, 3, CV_64F)), t(Mat::zeros(3, 1, CV_64F)) {}
 
 
 CameraParams::CameraParams(const CameraParams &other)
@@ -23,7 +23,7 @@ CameraParams::CameraParams(const CameraParams &other)
 const CameraParams& CameraParams::operator =(const CameraParams &other)
 {
     focal = other.focal;
-    M = other.M.clone();
+    R = other.R.clone();
     t = other.t.clone();
     return *this;
 }
@@ -60,7 +60,7 @@ struct CalcRotation
         K_to.at<double>(1, 1) = f_to;
 
         Mat R = K_from.inv() * pairwise_matches[pair_idx].H.inv() * K_to;
-        cameras[edge.to].M = cameras[edge.from].M * R;
+        cameras[edge.to].R = cameras[edge.from].R * R;
     }
 
     int num_images;
@@ -132,7 +132,7 @@ void BundleAdjuster::estimate(const vector<Mat> &images, const vector<ImageFeatu
     for (int i = 0; i < num_images_; ++i)
     {
         cameras_.at<double>(i * 4, 0) = cameras[i].focal;
-        svd(cameras[i].M, SVD::FULL_UV);
+        svd(cameras[i].R, SVD::FULL_UV);
         Mat R = svd.u * svd.vt;
         if (determinant(R) < 0) R *= -1;
         Mat rvec;
@@ -207,19 +207,19 @@ void BundleAdjuster::estimate(const vector<Mat> &images, const vector<ImageFeatu
         rvec.at<double>(0, 0) = cameras_.at<double>(i * 4 + 1, 0);
         rvec.at<double>(1, 0) = cameras_.at<double>(i * 4 + 2, 0);
         rvec.at<double>(2, 0) = cameras_.at<double>(i * 4 + 3, 0);
-        Rodrigues(rvec, cameras[i].M);
+        Rodrigues(rvec, cameras[i].R);
         Mat Mf;
-        cameras[i].M.convertTo(Mf, CV_32F);
-        cameras[i].M = Mf;
+        cameras[i].R.convertTo(Mf, CV_32F);
+        cameras[i].R = Mf;
     }
 
     // Normalize motion to center image
     Graph span_tree;
     vector<int> span_tree_centers;
     findMaxSpanningTree(num_images_, pairwise_matches, span_tree, span_tree_centers);
-    Mat R_inv = cameras[span_tree_centers[0]].M.inv();
+    Mat R_inv = cameras[span_tree_centers[0]].R.inv();
     for (int i = 0; i < num_images_; ++i)
-        cameras[i].M = R_inv * cameras[i].M;
+        cameras[i].R = R_inv * cameras[i].R;
 }
 
 
@@ -255,12 +255,12 @@ void BundleAdjuster::calcError(Mat &err)
             if (!matches_info.inliers_mask[k])
                 continue;
 
-            const DMatch& m = matches_info.matches[k];
+            const DMatch& r = matches_info.matches[k];
 
-            Point2d kp1 = features1.keypoints[m.queryIdx].pt;
+            Point2d kp1 = features1.keypoints[r.queryIdx].pt;
             kp1.x -= 0.5 * images_[i].cols;
             kp1.y -= 0.5 * images_[i].rows;
-            Point2d kp2 = features2.keypoints[m.trainIdx].pt;
+            Point2d kp2 = features2.keypoints[r.trainIdx].pt;
             kp2.x -= 0.5 * images_[j].cols;
             kp2.y -= 0.5 * images_[j].rows;
             double len1 = sqrt(kp1.x * kp1.x + kp1.y * kp1.y + f1 * f1);

modules/stitching/motion_estimators.hpp

@@ -12,8 +12,9 @@ struct CameraParams
     CameraParams(const CameraParams& other);
     const CameraParams& operator =(const CameraParams& other);
 
-    double focal;
-    cv::Mat M, t;
+    double focal; // Focal length
+    cv::Mat R; // Rotation
+    cv::Mat t; // Translation
 };
 
 

modules/stitching/util_inl.hpp

@@ -58,9 +58,9 @@ float normL2(const cv::Point3f& a, const cv::Point3f& b)
 
 
 static inline
-double normL2sq(const cv::Mat &m)
+double normL2sq(const cv::Mat &r)
 {
-    return m.dot(m);
+    return r.dot(r);
 }
 
 

modules/stitching/warpers.cpp

@@ -16,25 +16,25 @@ Ptr<Warper> Warper::createByCameraFocal(float focal, int type)
 }
 
 
-void ProjectorBase::setCameraMatrix(const Mat &M)
+void ProjectorBase::setCameraMatrix(const Mat &R)
 {
-    CV_Assert(M.size() == Size(3, 3));
-    CV_Assert(M.type() == CV_32F);
-    m[0] = M.at<float>(0, 0); m[1] = M.at<float>(0, 1); m[2] = M.at<float>(0, 2);
-    m[3] = M.at<float>(1, 0); m[4] = M.at<float>(1, 1); m[5] = M.at<float>(1, 2);
-    m[6] = M.at<float>(2, 0); m[7] = M.at<float>(2, 1); m[8] = M.at<float>(2, 2);
-
-    Mat M_inv = M.inv();
-    minv[0] = M_inv.at<float>(0, 0); minv[1] = M_inv.at<float>(0, 1); minv[2] = M_inv.at<float>(0, 2);
-    minv[3] = M_inv.at<float>(1, 0); minv[4] = M_inv.at<float>(1, 1); minv[5] = M_inv.at<float>(1, 2);
-    minv[6] = M_inv.at<float>(2, 0); minv[7] = M_inv.at<float>(2, 1); minv[8] = M_inv.at<float>(2, 2);
+    CV_Assert(R.size() == Size(3, 3));
+    CV_Assert(R.type() == CV_32F);
+    r[0] = R.at<float>(0, 0); r[1] = R.at<float>(0, 1); r[2] = R.at<float>(0, 2);
+    r[3] = R.at<float>(1, 0); r[4] = R.at<float>(1, 1); r[5] = R.at<float>(1, 2);
+    r[6] = R.at<float>(2, 0); r[7] = R.at<float>(2, 1); r[8] = R.at<float>(2, 2);
+
+    Mat Rinv = R.inv();
+    rinv[0] = Rinv.at<float>(0, 0); rinv[1] = Rinv.at<float>(0, 1); rinv[2] = Rinv.at<float>(0, 2);
+    rinv[3] = Rinv.at<float>(1, 0); rinv[4] = Rinv.at<float>(1, 1); rinv[5] = Rinv.at<float>(1, 2);
+    rinv[6] = Rinv.at<float>(2, 0); rinv[7] = Rinv.at<float>(2, 1); rinv[8] = Rinv.at<float>(2, 2);
 }
 
 
-Point Warper::operator ()(const Mat &src, float focal, const Mat& M, Mat &dst,
+Point Warper::operator ()(const Mat &src, float focal, const Mat& R, Mat &dst,
                           int interp_mode, int border_mode)
 {
-    return warp(src, focal, M, dst, interp_mode, border_mode);
+    return warp(src, focal, R, dst, interp_mode, border_mode);
 }
 
 
@@ -79,9 +79,9 @@ void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
     float br_uf = static_cast<float>(dst_br.x);
     float br_vf = static_cast<float>(dst_br.y);
 
-    float x = projector_.minv[1];
-    float y = projector_.minv[4];
-    float z = projector_.minv[7];
+    float x = projector_.rinv[1];
+    float y = projector_.rinv[4];
+    float z = projector_.rinv[7];
     if (y > 0.f)
     {
         x = projector_.focal * x / z + src_size_.width * 0.5f;
@@ -93,9 +93,9 @@ void SphericalWarper::detectResultRoi(Point &dst_tl, Point &dst_br)
         }
     }
 
-    x = projector_.minv[1];
-    y = -projector_.minv[4];
-    z = projector_.minv[7];
+    x = projector_.rinv[1];
+    y = -projector_.rinv[4];
+    z = projector_.rinv[7];
     if (y > 0.f)
     {
         x = projector_.focal * x / z + src_size_.width * 0.5f;

modules/stitching/warpers.hpp

@@ -13,23 +13,23 @@ public:
 
     virtual ~Warper() {}
 
-    cv::Point operator ()(const cv::Mat &src, float focal, const cv::Mat& M, cv::Mat &dst,
+    cv::Point operator ()(const cv::Mat &src, float focal, const cv::Mat& R, cv::Mat &dst,
                           int interp_mode = cv::INTER_LINEAR, int border_mode = cv::BORDER_REFLECT);
 
 protected:
-    virtual cv::Point warp(const cv::Mat &src, float focal, const cv::Mat& M, cv::Mat &dst,
+    virtual cv::Point warp(const cv::Mat &src, float focal, const cv::Mat& R, cv::Mat &dst,
                            int interp_mode, int border_mode) = 0;
 };
 
 
 struct ProjectorBase
 {
-    void setCameraMatrix(const cv::Mat& M);
+    void setCameraMatrix(const cv::Mat& R);
 
     cv::Size size;
     float focal;
-    float m[9];
-    float minv[9];
+    float r[9];
+    float rinv[9];
     float scale;
 };
 
@@ -38,7 +38,7 @@ template <class P>
 class WarperBase : public Warper
 {   
 protected:
-    cv::Point warp(const cv::Mat &src, float focal, const cv::Mat &M, cv::Mat &dst,
+    cv::Point warp(const cv::Mat &src, float focal, const cv::Mat &R, cv::Mat &dst,
                    int interp_mode, int border_mode);
 
     // Detects ROI of the destination image. It's correct for any projection.

modules/stitching/warpers_inl.hpp

@@ -4,14 +4,14 @@
 #include "warpers.hpp" // Make your IDE see declarations
 
 template <class P>
-cv::Point WarperBase<P>::warp(const cv::Mat &src, float focal, const cv::Mat &M, cv::Mat &dst,
+cv::Point WarperBase<P>::warp(const cv::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();
     projector_.focal = focal;
-    projector_.setCameraMatrix(M);
+    projector_.setCameraMatrix(R);
 
     cv::Point dst_tl, dst_br;
     detectResultRoi(dst_tl, dst_br);
@@ -106,9 +106,9 @@ void PlaneProjector::mapForward(float x, float y, float &u, float &v)
     x -= size.width * 0.5f;
     y -= size.height * 0.5f;
 
-    float x_ = m[0] * x + m[1] * y + m[2] * focal;
-    float y_ = m[3] * x + m[4] * y + m[5] * focal;
-    float z_ = m[6] * x + m[7] * y + m[8] * focal;
+    float x_ = r[0] * x + r[1] * y + r[2] * focal;
+    float y_ = r[3] * x + r[4] * y + r[5] * focal;
+    float z_ = r[6] * x + r[7] * y + r[8] * focal;
 
     u = scale * x_ / z_ * plane_dist;
     v = scale * y_ / z_ * plane_dist;
@@ -122,9 +122,9 @@ void PlaneProjector::mapBackward(float u, float v, float &x, float &y)
     float y_ = v / scale;
 
     float z;
-    x = minv[0] * x_ + minv[1] * y_ + minv[2] * plane_dist;
-    y = minv[3] * x_ + minv[4] * y_ + minv[5] * plane_dist;
-    z = minv[6] * x_ + minv[7] * y_ + minv[8] * plane_dist;
+    x = rinv[0] * x_ + rinv[1] * y_ + rinv[2] * plane_dist;
+    y = rinv[3] * x_ + rinv[4] * y_ + rinv[5] * plane_dist;
+    z = rinv[6] * x_ + rinv[7] * y_ + rinv[8] * plane_dist;
 
     x = focal * x / z + size.width * 0.5f;
     y = focal * y / z + size.height * 0.5f;
@@ -137,9 +137,9 @@ void SphericalProjector::mapForward(float x, float y, float &u, float &v)
     x -= size.width * 0.5f;
     y -= size.height * 0.5f;
 
-    float x_ = m[0] * x + m[1] * y + m[2] * focal;
-    float y_ = m[3] * x + m[4] * y + m[5] * focal;
-    float z_ = m[6] * x + m[7] * y + m[8] * focal;
+    float x_ = r[0] * x + r[1] * y + r[2] * focal;
+    float y_ = r[3] * x + r[4] * y + r[5] * focal;
+    float z_ = r[6] * x + r[7] * y + r[8] * focal;
 
     u = scale * atan2f(x_, z_);
     v = scale * (static_cast<float>(CV_PI) - acosf(y_ / sqrtf(x_ * x_ + y_ * y_ + z_ * z_)));
@@ -155,9 +155,9 @@ void SphericalProjector::mapBackward(float u, float v, float &x, float &y)
     float z_ = sinv * cosf(u / scale);
 
     float z;
-    x = minv[0] * x_ + minv[1] * y_ + minv[2] * z_;
-    y = minv[3] * x_ + minv[4] * y_ + minv[5] * z_;
-    z = minv[6] * x_ + minv[7] * y_ + minv[8] * z_;
+    x = rinv[0] * x_ + rinv[1] * y_ + rinv[2] * z_;
+    y = rinv[3] * x_ + rinv[4] * y_ + rinv[5] * z_;
+    z = rinv[6] * x_ + rinv[7] * y_ + rinv[8] * z_;
 
     x = focal * x / z + size.width * 0.5f;
     y = focal * y / z + size.height * 0.5f;
@@ -170,9 +170,9 @@ void CylindricalProjector::mapForward(float x, float y, float &u, float &v)
     x -= size.width * 0.5f;
     y -= size.height * 0.5f;
 
-    float x_ = m[0] * x + m[1] * y + m[2] * focal;
-    float y_ = m[3] * x + m[4] * y + m[5] * focal;
-    float z_ = m[6] * x + m[7] * y + m[8] * focal;
+    float x_ = r[0] * x + r[1] * y + r[2] * focal;
+    float y_ = r[3] * x + r[4] * y + r[5] * focal;
+    float z_ = r[6] * x + r[7] * y + r[8] * focal;
 
     u = scale * atan2f(x_, z_);
     v = scale * y_ / sqrtf(x_ * x_ + z_ * z_);
@@ -187,9 +187,9 @@ void CylindricalProjector::mapBackward(float u, float v, float &x, float &y)
     float z_ = cosf(u / scale);
 
     float z;
-    x = minv[0] * x_ + minv[1] * y_ + minv[2] * z_;
-    y = minv[3] * x_ + minv[4] * y_ + minv[5] * z_;
-    z = minv[6] * x_ + minv[7] * y_ + minv[8] * z_;
+    x = rinv[0] * x_ + rinv[1] * y_ + rinv[2] * z_;
+    y = rinv[3] * x_ + rinv[4] * y_ + rinv[5] * z_;
+    z = rinv[6] * x_ + rinv[7] * y_ + rinv[8] * z_;
 
     x = focal * x / z + size.width * 0.5f;
     y = focal * y / z + size.height * 0.5f;