void RotatePanorama::rotatePano(PanoramaData& panorama, const Matrix3& transformMat)
{
for (unsigned int i = 0; i < panorama.getNrOfImages(); i++)
{
const SrcPanoImage & image = panorama.getImage(i);
SrcPanoImage copy = image;
double y = image.getYaw();
double p = image.getPitch();
double r = image.getRoll();
Matrix3 mat;
mat.SetRotationPT(DEG_TO_RAD(y), DEG_TO_RAD(p), DEG_TO_RAD(r));
DEBUG_DEBUG("rotation matrix (PT) for img " << i << " << ypr:" << y << " " << p << " " << r << std::endl << mat);
Matrix3 rotated;
rotated = transformMat * mat;
DEBUG_DEBUG("rotation matrix after transform: " << rotated);
rotated.GetRotationPT(y,p,r);
y = RAD_TO_DEG(y);
p = RAD_TO_DEG(p);
r = RAD_TO_DEG(r);
DEBUG_DEBUG("rotated angles of img " << i << ": " << y << " " << p << " " << r);
// Don't update a variable linked to a variable we already updated.
conditional_set(Yaw, y);
conditional_set(Pitch, p);
conditional_set(Roll, r);
if(image.getX()!=0.0 || image.getY()!=0.0 || image.getZ()!=0.0)
{
// rotate translation vector
Vector3 vecRot=transformMat.Inverse().TransformVector(Vector3(image.getZ(), image.getX(), image.getY()));
conditional_set(X, vecRot.y);
conditional_set(Y, vecRot.z);
conditional_set(Z, vecRot.x);
// rotate translation plane
mat.SetRotationPT(DEG_TO_RAD(image.getTranslationPlaneYaw()), DEG_TO_RAD(image.getTranslationPlanePitch()), 0.0);
rotated = transformMat * mat;
rotated.GetRotationPT(y,p,r);
conditional_set(TranslationPlaneYaw, RAD_TO_DEG(y));
conditional_set(TranslationPlanePitch, RAD_TO_DEG(p));
};
panorama.setImage(i, copy);
panorama.imageChanged(i);
}
}
double get(PanoramaData & pano) const
{
return pano.getImage(m_img).getVar(m_name);
}
Matrix3 StraightenPanorama::calcStraighteningRotation(const PanoramaData& panorama)
{
// landscape/non rotated portrait detection is not working correctly
// should use the exif rotation tag but thats not stored anywhere currently...
// 1: use y axis (image x axis), for normal image
// 0: use z axis (image y axis), for non rotated portrait images
// (usually rotation is just stored in EXIF tag)
std::vector<int> coord_idx;
for (unsigned int i = 0; i < panorama.getNrOfImages(); i++) {
SrcPanoImage img = panorama.getSrcImage(i);
// BUG: need to read exif data here, since exif orientation is not
// stored in Panorama data model
double fl=0;
double crop=0;
img.readEXIF(fl, crop, false, false);
double roll = img.getExifOrientation();
if (roll == 90 || roll == 270 ) {
coord_idx.push_back(2);
} else {
coord_idx.push_back(1);
}
}
// build covariance matrix of X
Matrix3 cov;
unsigned int nrOfVariableImages=0;
for (unsigned int i = 0; i < panorama.getNrOfImages(); i++)
{
const SrcPanoImage & img=panorama.getImage(i);
if(img.YawisLinked())
{
//only consider images which are not linked with the previous ones
bool consider=true;
for(unsigned int j=0; j<i; j++)
{
if(img.YawisLinkedWith(panorama.getImage(j)))
{
consider=false;
break;
};
};
if(!consider)
continue;
};
double y = const_map_get(panorama.getImageVariables(i), "y").getValue();
double p = const_map_get(panorama.getImageVariables(i), "p").getValue();
double r = const_map_get(panorama.getImageVariables(i), "r").getValue();
Matrix3 mat;
mat.SetRotationPT(DEG_TO_RAD(y), DEG_TO_RAD(p), DEG_TO_RAD(r));
nrOfVariableImages++;
DEBUG_DEBUG("mat = " << mat);
for (int j=0; j<3; j++) {
for (int k=0; k<3; k++) {
cov.m[j][k] += mat.m[j][coord_idx[i]] * mat.m[k][coord_idx[i]];
}
}
}
cov /= nrOfVariableImages;
DEBUG_DEBUG("cov = " << cov);
// calculate eigenvalues and vectors
Matrix3 eigvectors;
double eigval[3];
int eigvalIdx[3];
int maxsweep = 100;
int maxannil = 0;
double eps = 1e-16;
hugin_utils::eig_jacobi(3, cov.m, eigvectors.m, eigval, eigvalIdx, &maxsweep, &maxannil, &eps);
DEBUG_DEBUG("Eigenvectors & eigenvalues:" << std::endl
<< "V = " << eigvectors << std::endl
<< "D = [" << eigval[0] << ", " << eigval[1] << ", " << eigval[2] << " ]"
<< "idx = [" << eigvalIdx[0] << ", " << eigvalIdx[1] << ", " << eigvalIdx[2] << " ]");
// get up vector, eigenvector with smallest eigenvalue
Vector3 up;
up.x = eigvectors.m[eigvalIdx[2]][0];
up.y = eigvectors.m[eigvalIdx[2]][1];
up.z = eigvectors.m[eigvalIdx[2]][2];
// normalize vector
up.Normalize();
DEBUG_DEBUG("Up vector: up = " << up );
double rotAngle = acos(up.Dot(Vector3(0,0,1)));
if (rotAngle > M_PI/2) {
// turn in shorter direction
up *= -1;
rotAngle = acos(up.Dot(Vector3(0,0,1)));
}
DEBUG_DEBUG("rotation Angle: " << rotAngle);
// get rotation axis
Vector3 rotAxis = up.Cross(Vector3(0,0,1));
DEBUG_DEBUG("rotAxis = " << rotAngle);
// calculate rotation matrix
Matrix3 rotMat = GetRotationAroundU(rotAxis, -rotAngle);
DEBUG_DEBUG("rotMat = " << rotMat);
return rotMat;
}
void CenterHorizontally::centerHorizontically(PanoramaData& panorama)
{
vigra::Size2D panoSize(360,180);
// remap into minature pano.
PanoramaOptions opts;
opts.setHFOV(360);
opts.setProjection(PanoramaOptions::EQUIRECTANGULAR);
opts.setWidth(360);
opts.setHeight(180);
// remap image
vigra::BImage panoAlpha(panoSize);
Nona::RemappedPanoImage<vigra::BImage, vigra::BImage> remapped;
// use selected images.
const UIntSet allActiveImgs(panorama.getActiveImages());
if (allActiveImgs.empty())
{
// do nothing if there are no images
return;
}
//only check unlinked images
UIntSet activeImgs;
for (UIntSet::const_iterator it = allActiveImgs.begin(); it!= allActiveImgs.end(); ++it)
{
const SrcPanoImage & img=panorama.getImage(*it);
bool consider=true;
if(img.YawisLinked())
{
for(UIntSet::const_iterator it2=activeImgs.begin(); it2!=activeImgs.end(); ++it2)
{
if(img.YawisLinkedWith(panorama.getSrcImage(*it2)))
{
consider=false;
break;
};
};
};
if(consider)
activeImgs.insert(*it);
};
for (UIntSet::iterator it = activeImgs.begin(); it != activeImgs.end(); ++it)
{
remapped.setPanoImage(panorama.getSrcImage(*it), opts, vigra::Rect2D(0,0,360,180));
// calculate alpha channel
remapped.calcAlpha();
// copy into global alpha channel.
vigra::copyImageIf(vigra_ext::applyRect(remapped.boundingBox(),
vigra_ext::srcMaskRange(remapped)),
vigra_ext::applyRect(remapped.boundingBox(),
vigra_ext::srcMask(remapped)),
vigra_ext::applyRect(remapped.boundingBox(),
destImage(panoAlpha)));
}
// get field of view
std::vector<int> borders;
bool colOccupied = false;
for (int h=0; h < 360; h++) {
bool curColOccupied = false;
for (int v=0; v< 180; v++) {
if (panoAlpha(h,v)) {
// pixel is valid
curColOccupied = true;
}
}
if ((colOccupied && !curColOccupied) ||
(!colOccupied && curColOccupied))
{
// change in position, save point.
borders.push_back(h-180);
colOccupied = curColOccupied;
}
}
int lastidx = borders.size() -1;
if (lastidx == -1) {
// empty pano
return;
}
if (colOccupied) {
// we have reached the right border, and the pano is still valid
// shift right fragments by 360 deg
// |11 2222| -> | 222211 |
std::vector<int> newBorders;
newBorders.push_back(borders[lastidx]);
for (int i = 0; i < lastidx; i++) {
newBorders.push_back(borders[i]+360);
}
borders = newBorders;
}
const double dYaw=(borders[0] + borders[lastidx])/2;
// apply yaw shift, takes also translation parameters into account
RotatePanorama(panorama, -dYaw, 0, 0).run();
}
