void PTools::optimize(Panorama & pano,
utils::MultiProgressDisplay & progDisplay,
int maxIter)
{
// VariableMapVector res;
// setup data structures
aPrefs aP;
OptInfo opt;
SetAdjustDefaults(&aP);
AlignInfoWrap aInfo;
// copy pano information int libpano data structures
if (aInfo.setInfo(pano)) {
aInfo.setGlobal();
opt.numVars = aInfo.gl.numParam;
opt.numData = aInfo.gl.numPts;
opt.SetVarsToX = SetLMParams;
opt.SetXToVars = SetAlignParams;
opt.fcn = aInfo.gl.fcn;
*opt.message = 0;
DEBUG_DEBUG("starting optimizer");
RunLMOptimizer( &opt );
#ifdef DEBUG
fullPath path;
StringtoFullPath(&path, "c:/debug_optimizer.txt");
aInfo.gl.data = opt.message;
WriteResults( "debug_test", &path, &aInfo.gl, distSquared, 0);
#endif
std::ostringstream oss;
/*
oss << "optimizing images";
for (UIntVector::const_iterator it = imgs.begin(); it != imgs.end(); ++it) {
if (it + 1 != imgs.end()) {
oss << *it << ",";
} else {
oss << *it;
}
}
oss << "\n" << opt.message;
progDisplay.setMessage(oss.str());
*/
DEBUG_DEBUG("optimizer finished:" << opt.message);
pano.updateVariables(aInfo.getVariables());
pano.updateCtrlPointErrors( aInfo.getCtrlPoints());
}
}
PTOptEstimator(PanoramaData & pano, int i1, int i2, double maxError,
bool optHFOV, bool optB)
{
m_maxError = maxError;
UIntSet imgs;
imgs.insert(i1);
imgs.insert(i2);
m_localPano = (pano.getNewSubset(imgs)); // don't forget to delete
m_li1 = (i1 < i2) ? 0 : 1;
m_li2 = (i1 < i2) ? 1 : 0;
// get control points
m_cps = m_localPano->getCtrlPoints();
// only use 2D control points
BOOST_FOREACH(ControlPoint & kp, m_cps) {
if (kp.mode == ControlPoint::X_Y) {
m_xy_cps.push_back(kp);
}
}
if (optHFOV)
m_optvars.push_back(OptVarSpec(0,std::string("v")));
if (optB)
m_optvars.push_back(OptVarSpec(0,std::string("b")));
m_optvars.push_back(OptVarSpec(m_li2,"r"));
m_optvars.push_back(OptVarSpec(m_li2,"p"));
m_optvars.push_back(OptVarSpec(m_li2,"y"));
if (optHFOV)
m_optvars.push_back(OptVarSpec(0,"v"));
if (optB)
m_optvars.push_back(OptVarSpec(0,"b"));
/** optimisation for first pass */
m_opt_first_pass.resize(2);
m_opt_first_pass[1].insert("r");
m_opt_first_pass[1].insert("p");
m_opt_first_pass[1].insert("y");
/** optimisation for second pass */
if (optHFOV || optB) {
m_opt_second_pass = m_opt_first_pass;
if (optHFOV)
m_opt_second_pass[0].insert("v");
if (optB)
m_opt_second_pass[0].insert("b");
}
// number of points required for estimation
m_numForEstimate = (m_optvars.size()+1)/2;
// extract initial parameters from pano
m_initParams.resize(m_optvars.size());
int i=0;
BOOST_FOREACH(OptVarSpec & v, m_optvars) {
m_initParams[i] = v.get(*m_localPano);
DEBUG_DEBUG("get init var: " << v.m_name << ", " << v.m_img << ": " << m_initParams[i]);
i++;
}
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);
}
}
void VertexCoordRemapper::UpdateAndResetIndex()
{
DEBUG_DEBUG("mesh update update reset index");
// this sets scale, height, and width.
MeshRemapper::UpdateAndResetIndex();
// we need to record the output projection for flipping around 180 degrees.
output_projection = visualization_state->GetOptions()->getProjection();
o_width = visualization_state->GetOptions()->getWidth();
o_height = visualization_state->GetOptions()->getHeight();
// we want to make a remapped mesh, get the transformation we need:
// HuginBase::SrcPanoImage *src = visualization_state->GetSrcImage(image_number);
transform.createInvTransform(*image, *(visualization_state->GetOptions()));
// use the scale to determine edge lengths in pixels for subdivision
// DEBUG_INFO("updating mesh for image " << image_number << ", using scale "
// << scale << ".\n");
// find key points used for +/- 180 degree boundary correction
// {x|y}_add_360's are added to a value near the left/top boundary to get
// the corresponding point over the right/bottom boundary.
// other values are used to check where the boundary is.
OutputProjectionInfo *info = visualization_state->GetProjectionInfo();
x_add_360 = info->GetXAdd360();
radius = info->GetRadius();
y_add_360 = info->GetYAdd360();
x_midpoint = info->GetMiddleX();
y_midpoint = info->GetMiddleY();
lower_bound = info->GetLowerX();
upper_bound = info->GetUpperX();
lower_bound_h = info->GetLowerY();
upper_bound_h = info->GetUpperY();
// Find the cropping region of the source image, so we can stick to the
// bounding rectangle.
SetCrop();
// the tree needs to know how to use the croping information for generating
tree.x_crop_scale = crop_x2 - crop_x1;
tree.x_crop_offs = crop_x1;
tree.y_crop_scale = crop_y2 - crop_y1;
tree.y_crop_offs = crop_y1;
// make the tree reflect the transformation
RecursiveUpdate(0, 0, 0);
// now set up for examining the tree contents.
tree.ResetIndex();
done_node = true;
}
void ImagesPanel::panoramaImagesChanged(HuginBase::Panorama &pano, const HuginBase::UIntSet & _imgNr)
{
DEBUG_TRACE("");
// update text field if selected
const HuginBase::UIntSet & selected = m_images_tree->GetSelectedImages();
DEBUG_DEBUG("nr of sel Images: " << selected.size());
if (pano.getNrOfImages() == 0)
{
DisableImageCtrls();
m_matchingButton->Disable();
}
else
{
m_matchingButton->Enable();
wxTreeEvent ev;
OnSelectionChanged(ev);
};
//enable/disable optimize buttons
XRCCTRL(*this, "images_optimize", wxButton)->Enable(pano.getNrOfImages()>0);
XRCCTRL(*this, "images_photo_optimize", wxButton)->Enable(pano.getNrOfImages()>1);
}
const double getCropFactor(Exiv2::ExifData &exifData, long width, long height)
{
double cropFactor=0;
// some cameras do not provide Exif.Image.ImageWidth / Length
// notably some Olympus
long eWidth = 0;
_getExiv2Value(exifData,"Exif.Image.ImageWidth",eWidth);
long eLength = 0;
_getExiv2Value(exifData,"Exif.Image.ImageLength",eLength);
double sensorPixelWidth = 0;
double sensorPixelHeight = 0;
if (eWidth > 0 && eLength > 0)
{
sensorPixelHeight = (double)eLength;
sensorPixelWidth = (double)eWidth;
}
else
{
// No EXIF information, use number of pixels in image
sensorPixelWidth = width;
sensorPixelHeight = height;
}
// force landscape sensor orientation
if (sensorPixelWidth < sensorPixelHeight )
{
double t = sensorPixelWidth;
sensorPixelWidth = sensorPixelHeight;
sensorPixelHeight = t;
}
DEBUG_DEBUG("sensorPixelWidth: " << sensorPixelWidth);
DEBUG_DEBUG("sensorPixelHeight: " << sensorPixelHeight);
// some cameras do not provide Exif.Photo.FocalPlaneResolutionUnit
// notably some Olympus
long exifResolutionUnits = 0;
_getExiv2Value(exifData,"Exif.Photo.FocalPlaneResolutionUnit",exifResolutionUnits);
float resolutionUnits= 0;
switch (exifResolutionUnits)
{
case 3: resolutionUnits = 10.0f; break; //centimeter
case 4: resolutionUnits = 1.0f; break; //millimeter
case 5: resolutionUnits = .001f; break; //micrometer
default: resolutionUnits = 25.4f; break; //inches
}
DEBUG_DEBUG("Resolution Units: " << resolutionUnits);
// some cameras do not provide Exif.Photo.FocalPlaneXResolution and
// Exif.Photo.FocalPlaneYResolution, notably some Olympus
float fplaneXresolution = 0;
_getExiv2Value(exifData,"Exif.Photo.FocalPlaneXResolution",fplaneXresolution);
float fplaneYresolution = 0;
_getExiv2Value(exifData,"Exif.Photo.FocalPlaneYResolution",fplaneYresolution);
float CCDWidth = 0;
if (fplaneXresolution != 0)
{
CCDWidth = (float)(sensorPixelWidth / ( fplaneXresolution / resolutionUnits));
}
float CCDHeight = 0;
if (fplaneYresolution != 0)
{
CCDHeight = (float)(sensorPixelHeight / ( fplaneYresolution / resolutionUnits));
}
DEBUG_DEBUG("CCDHeight:" << CCDHeight);
DEBUG_DEBUG("CCDWidth: " << CCDWidth);
// calc sensor dimensions if not set and 35mm focal length is available
hugin_utils::FDiff2D sensorSize;
if (CCDHeight > 0 && CCDWidth > 0)
{
// read sensor size directly.
sensorSize.x = CCDWidth;
sensorSize.y = CCDHeight;
std::string exifModel;
if(_getExiv2Value(exifData, "Exif.Image.Model", exifModel))
{
if (exifModel == "Canon EOS 20D")
{
// special case for buggy 20D camera
sensorSize.x = 22.5;
sensorSize.y = 15;
}
};
// check if sensor size ratio and image size fit together
double rsensor = (double)sensorSize.x / sensorSize.y;
double rimg = (double) width / height;
if ( (rsensor > 1 && rimg < 1) || (rsensor < 1 && rimg > 1) )
{
// image and sensor ratio do not match
// swap sensor sizes
float t;
t = sensorSize.y;
sensorSize.y = sensorSize.x;
sensorSize.x = t;
}
DEBUG_DEBUG("sensorSize.y: " << sensorSize.y);
DEBUG_DEBUG("sensorSize.x: " << sensorSize.x);
cropFactor = sqrt(36.0*36.0+24.0*24.0) /
sqrt(sensorSize.x*sensorSize.x + sensorSize.y*sensorSize.y);
// FIXME: HACK guard against invalid image focal plane definition in EXIF metadata with arbitrarly chosen limits for the crop factor ( 1/100 < crop < 100)
if (cropFactor < 0.1 || cropFactor > 100)
{
cropFactor = 0;
}
}
else
{
// alternative way to calculate the crop factor for Olympus cameras
// Windows debug stuff
// left in as example on how to get "console output"
// written to a log file
// freopen ("oly.log","a",stdout);
// fprintf (stdout,"Starting Alternative crop determination\n");
float olyFPD = 0;
_getExiv2Value(exifData,"Exif.Olympus.FocalPlaneDiagonal",olyFPD);
if (olyFPD > 0.0)
{
// Windows debug stuff
// fprintf(stdout,"Oly_FPD:");
// fprintf(stdout,"%f",olyFPD);
cropFactor = sqrt(36.0*36.0+24.0*24.0) / olyFPD;
}
else
{
// for newer Olympus cameras the FocalPlaneDiagonal tag was moved into
// equipment (sub?)-directory, so check also there
_getExiv2Value(exifData,"Exif.OlympusEq.FocalPlaneDiagonal",olyFPD);
if (olyFPD > 0.0)
{
cropFactor = sqrt(36.0*36.0+24.0*24.0) / olyFPD;
};
};
};
return cropFactor;
};
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 ImagesPanel::OnSelectionChanged(wxTreeEvent & e)
{
const HuginBase::UIntSet & sel = m_images_tree->GetSelectedImages();
DEBUG_DEBUG("selected Images: " << sel.size());
if (sel.size() == 0)
{
// nothing to edit
DisableImageCtrls();
}
else
{
// enable edit
EnableImageCtrls();
const HuginBase::SrcPanoImage& img = m_pano->getImage(*sel.begin());
bool identical_projection=true;
HuginBase::SrcPanoImage::Projection proj = img.getProjection();
double focallength = HuginBase::SrcPanoImage::calcFocalLength(img.getProjection(), img.getHFOV(),
img.getCropFactor(),img.getSize());;
double cropFactor=img.getCropFactor();
for (HuginBase::UIntSet::const_iterator it = sel.begin(); it != sel.end(); ++it)
{
const HuginBase::SrcPanoImage& img2 = m_pano->getImage(*it);
if(proj!=img2.getProjection())
{
identical_projection=false;
};
double focallength2 = HuginBase::SrcPanoImage::calcFocalLength(img2.getProjection(), img2.getHFOV(),
img2.getCropFactor(),img2.getSize());
if(focallength>0 && fabs(focallength-focallength2)>0.05)
{
focallength=-1;
};
if(fabs(cropFactor-img2.getCropFactor())>0.1)
{
cropFactor=-1;
};
};
if(identical_projection)
{
SelectListValue(m_lenstype, proj);
}
else
{
m_lenstype->Select(wxNOT_FOUND);
};
if(focallength>0)
{
m_focallength->SetValue(hugin_utils::doubleTowxString(focallength,m_degDigits));
}
else
{
m_focallength->Clear();
};
if(cropFactor>0)
{
m_cropfactor->SetValue(hugin_utils::doubleTowxString(cropFactor,m_degDigits));
}
else
{
m_cropfactor->Clear();
};
if (sel.size() == 1)
{
ShowImage(*(sel.begin()));
}
else
{
m_smallImgCtrl->SetBitmap(m_empty);
m_smallImgCtrl->GetParent()->Layout();
m_smallImgCtrl->Refresh();
};
}
}