OptimizeVector OptimizePhotometricPanel::getOptimizeVector()
{
int nrLI = m_exp_list->GetCount();
assert(nrLI >=0);
unsigned int nr = (unsigned int) nrLI;
unsigned int nImages = m_pano->getNrOfImages();
assert(nr == nImages);
OptimizeVector optvars;
for (unsigned int i=0; i < nImages; i++) {
set<string> imgopt;
// lens variables
unsigned int lensNr = variable_groups->getLenses().getPartNumber(i);
if (m_vig_list->IsChecked(lensNr)) {
imgopt.insert("Vb");
imgopt.insert("Vc");
imgopt.insert("Vd");
}
if (m_vigc_list->IsChecked(lensNr)) {
imgopt.insert("Vx");
imgopt.insert("Vy");
}
if (m_resp_list->IsChecked(lensNr)) {
imgopt.insert("Ra");
imgopt.insert("Rb");
imgopt.insert("Rc");
imgopt.insert("Rd");
imgopt.insert("Re");
}
// image variables
if (m_exp_list->IsChecked(i)) {
imgopt.insert("Eev");
}
if (m_wb_list->IsChecked(i)) {
imgopt.insert("Er");
imgopt.insert("Eb");
}
optvars.push_back(imgopt);
}
return optvars;
}
void calcCtrlPointErrors (PanoramaData& pano)
{
if(pano.getNrOfImages()>0 && pano.getNrOfCtrlPoints()>0)
{
char * p=setlocale(LC_ALL,NULL);
#ifndef ANDROID
char * oldlocale=strdup(p);
#else
char * oldlocale="";
#endif
setlocale(LC_ALL,"C");
UIntSet allImg;
std::ostringstream scriptbuf;
fill_set(allImg,0, unsigned(pano.getNrOfImages()-1));
//create temporary non-empty optimize vector
OptimizeVector optVec;
std::set<std::string> opt;
opt.insert("y");
for(unsigned int i=0;i<pano.getNrOfImages();i++)
{
optVec.push_back(opt);
};
pano.printPanoramaScript(scriptbuf, optVec,
pano.getOptions(), allImg, true);
char * script = 0;
script = strdup(scriptbuf.str().c_str());
AlignInfo ainf;
if (ParseScript( script, &ainf ) == 0)
{
if( CheckParams( &ainf ) == 0 )
{
ainf.fcn = fcnPano;
SetGlobalPtr( &ainf );
pano.updateCtrlPointErrors( GetAlignInfoCtrlPoints(ainf) );
}
}
setlocale(LC_ALL,oldlocale);
free(oldlocale);
};
}
void OptimizePhotometricPanel::setOptimizeVector(const OptimizeVector & optvec)
{
DEBUG_ASSERT((int)optvec.size() == (int)m_exp_list->GetCount());
for (int i=0; i < (int) variable_groups->getLenses().getNumberOfParts(); i++) {
m_vig_list->Check(i,false);
m_vigc_list->Check(i,false);
m_resp_list->Check(i,false);
}
unsigned int nImages = optvec.size();
for (unsigned int i=0; i < nImages; i++) {
m_exp_list->Check(i,false);
m_wb_list->Check(i,false);
unsigned int lensNr = variable_groups->getLenses().getPartNumber(i);
for(set<string>::const_iterator it = optvec[i].begin();
it != optvec[i].end(); ++it)
{
if (*it == "Eev") {
m_exp_list->Check(i);
}
if (*it == "Er") {
m_wb_list->Check(i);
}
if (*it == "Ra") {
m_resp_list->Check(lensNr);
}
if (*it == "Vb") {
m_vig_list->Check(lensNr);
}
if (*it == "Vx") {
m_vigc_list->Check(lensNr);
}
}
}
}
void PhotometricOptimizer::optimizePhotometric(PanoramaData & pano, const OptimizeVector & vars,
const std::vector<vigra_ext::PointPairRGB> & correspondences,
AppBase::ProgressReporter & progress,
double & error)
{
OptimizeVector photometricVars;
// keep only the photometric variables
unsigned int optCount=0;
for (OptimizeVector::const_iterator it=vars.begin(); it != vars.end(); ++it)
{
std::set<std::string> cvars;
for (std::set<std::string>::const_iterator itv = (*it).begin();
itv != (*it).end(); ++itv)
{
if ((*itv)[0] == 'E' || (*itv)[0] == 'R' || (*itv)[0] == 'V') {
cvars.insert(*itv);
}
}
photometricVars.push_back(cvars);
optCount+=cvars.size();
}
//if no variables to optimize return
if(optCount==0)
{
return;
};
int nMaxIter = 250;
OptimData data(pano, photometricVars, correspondences, 5/255.0, false, nMaxIter, progress);
int ret;
//double opts[LM_OPTS_SZ];
double info[LM_INFO_SZ];
// parameters
int m=data.m_vars.size();
vigra::ArrayVector<double> p(m, 0.0);
// vector for errors
int n=2*3*correspondences.size()+pano.getNrOfImages();
vigra::ArrayVector<double> x(n, 0.0);
data.ToX(p.begin());
#ifdef DEBUG
printf("Parameters before optimisation: ");
for(int i=0; i<m; ++i)
printf("%.7g ", p[i]);
printf("\n");
#endif
// covariance matrix at solution
vigra::DImage cov(m,m);
// TODO: setup optimisation options with some good defaults.
double optimOpts[5];
optimOpts[0] = 1E-03; // init mu
// stop thresholds
optimOpts[1] = 1e-5; // ||J^T e||_inf
optimOpts[2] = 1e-5; // ||Dp||_2
optimOpts[3] = 1e-1; // ||e||_2
// difference mode
optimOpts[4] = LM_DIFF_DELTA;
ret=dlevmar_dif(&photometricError, &photometricVis, &(p[0]), &(x[0]), m, n, nMaxIter, optimOpts, info, NULL, &(cov(0,0)), &data); // no jacobian
// copy to source images (data.m_imgs)
data.FromX(p.begin());
// calculate error at solution
data.huberSigma = 0;
photometricError(&(p[0]), &(x[0]), m, n, &data);
error = 0;
for (int i=0; i<n; i++) {
error += x[i]*x[i];
}
error = sqrt(error/n);
#ifdef DEBUG
printf("Levenberg-Marquardt returned %d in %g iter, reason %g\nSolution: ", ret, info[5], info[6]);
for(int i=0; i<m; ++i)
printf("%.7g ", p[i]);
printf("\n\nMinimization info:\n");
for(int i=0; i<LM_INFO_SZ; ++i)
printf("%g ", info[i]);
printf("\n");
#endif
// copy settings to panorama
for (unsigned i=0; i<pano.getNrOfImages(); i++) {
pano.setSrcImage(i, data.m_imgs[i]);
}
}
void OptimizePhotometricPanel::runOptimizer(const UIntSet & imgs)
{
DEBUG_TRACE("");
int mode = m_mode_cb->GetSelection();
// check if vignetting and response are linked, display a warning if they are not
// The variables to check:
const HuginBase::ImageVariableGroup::ImageVariableEnum vars[] = {
HuginBase::ImageVariableGroup::IVE_EMoRParams,
HuginBase::ImageVariableGroup::IVE_ResponseType,
HuginBase::ImageVariableGroup::IVE_VigCorrMode,
HuginBase::ImageVariableGroup::IVE_RadialVigCorrCoeff,
HuginBase::ImageVariableGroup::IVE_RadialVigCorrCenterShift
};
// keep a list of commands needed to fix it:
std::vector<PT::PanoCommand *> commands;
HuginBase::ConstImageVariableGroup & lenses = variable_groups->getLenses();
for (size_t i = 0; i < lenses.getNumberOfParts(); i++)
{
std::set<HuginBase::ImageVariableGroup::ImageVariableEnum> links_needed;
links_needed.clear();
for (int v = 0; v < 5; v++)
{
if (!lenses.getVarLinkedInPart(vars[v], i))
{
links_needed.insert(vars[v]);
}
};
if (!links_needed.empty())
{
commands.push_back(new PT::LinkLensVarsCmd(*m_pano, i, links_needed));
}
}
// if the list of commands is empty, all is good and we don't need a warning.
if (!commands.empty()) {
int ok = wxMessageBox(_("The same vignetting and response parameters should\nbe applied for all images of a lens.\nCurrently each image can have different parameters.\nLink parameters?"), _("Link parameters"), wxYES_NO | wxICON_INFORMATION);
if (ok == wxYES) {
// perform all the commands we stocked up earilier.
for (std::vector<PT::PanoCommand *>::iterator it = commands.begin();
it != commands.end(); it++)
{
GlobalCmdHist::getInstance().addCommand(*it);
}
} else {
// free all the commands, the user doesn't want them used.
for (std::vector<PT::PanoCommand *>::iterator it = commands.begin();
it != commands.end(); it++)
{
delete *it;
}
}
}
Panorama optPano = m_pano->getSubset(imgs);
PanoramaOptions opts = optPano.getOptions();
OptimizeVector optvars;
if(mode==OPT_CUSTOM)
{
optvars = getOptimizeVector();
if (optPano.getNrOfImages() != m_pano->getNrOfImages())
{
OptimizeVector o = optvars;
optvars.clear();
for (UIntSet::const_iterator it = imgs.begin(); it != imgs.end(); ++it)
{
optvars.push_back(o[*it]);
}
}
unsigned int countVar=0;
for(unsigned int i=0;i<optvars.size();i++)
{
countVar+=optvars[i].size();
};
if(countVar==0)
{
wxMessageBox(_("You selected no parameters to optimize.\nTherefore optimization will be canceled."), _("Exposure optimization"), wxOK | wxICON_INFORMATION);
return;
};
};
std::vector<vigra_ext::PointPairRGB> m_points;
// extract points only if not done previously
long nPoints = 200;
wxConfigBase::Get()->Read(wxT("/OptimizePhotometric/nRandomPointsPerImage"), & nPoints);
// get parameters for estimation.
nPoints = wxGetNumberFromUser(_("The vignetting and exposure correction is determined by analysing color values in the overlapping areas.\nTo speed up the computation, only a random subset of points is used."),
_("Number of points per image"),
_("Photometric optimization"), nPoints, 0, 32000,
this);
if (nPoints < 0) {
return;
}
wxConfigBase::Get()->Write(wxT("/OptimizePhotometric/nRandomPointsPerImage"),nPoints);
ProgressReporterDialog progress(5.0, _("Photometric alignment"), _("Loading images"));
progress.Show();
nPoints = nPoints * optPano.getNrOfImages();
// get the small images
std::vector<vigra::FRGBImage *> srcImgs;
for (size_t i=0; i < optPano.getNrOfImages(); i++) {
ImageCache::EntryPtr e = ImageCache::getInstance().getSmallImage(optPano.getImage(i).getFilename());
vigra::FRGBImage * img = new FRGBImage;
if (!e) {
wxMessageBox(_("Error: could not load all images"), _("Error"));
return;
}
if (e->image8 && e->image8->width() > 0) {
reduceToNextLevel(*(e->image8), *img);
transformImage(vigra::srcImageRange(*img), vigra::destImage(*img),
vigra::functor::Arg1()/vigra::functor::Param(255.0));
} else if (e->image16 && e->image16->width() > 0) {
reduceToNextLevel(*(e->image16), *img);
transformImage(vigra::srcImageRange(*img), vigra::destImage(*img),
vigra::functor::Arg1()/vigra::functor::Param(65535.0));
} else {
reduceToNextLevel(*(e->imageFloat), *img);
}
srcImgs.push_back(img);
}
bool randomPoints = true;
extractPoints(optPano, srcImgs, nPoints, randomPoints, progress, m_points);
if (m_points.size() == 0) {
wxMessageBox(_("Error: no overlapping points found, Photometric optimization aborted"), _("Error"));
return;
}
double error = 0;
try {
//wxBusyCursor busyc;
if (mode != OPT_CUSTOM) {
// run automatic optimisation
// ensure that we have a valid anchor.
PanoramaOptions opts = optPano.getOptions();
if (opts.colorReferenceImage >= optPano.getNrOfImages()) {
opts.colorReferenceImage = 0;
optPano.setOptions(opts);
}
smartOptimizePhotometric(optPano, PhotometricOptimizeMode(mode),
m_points, progress, error);
} else {
// optimize selected parameters
optimizePhotometric(optPano, optvars,
m_points, progress, error);
}
} catch (std::exception & error) {
wxMessageBox(_("Internal error during photometric optimization:\n") + wxString(error.what(), wxConvLocal), _("Internal error"));
}
progress.Close();
// display information about the estimation process:
int ret = wxMessageBox(wxString::Format(_("Photometric optimization results:\nAverage difference (RMSE) between overlapping pixels: %.2f gray values (0..255)\n\nApply results?"), error*255),
_("Photometric optimization finished"), wxYES_NO | wxICON_INFORMATION,this);
if (ret == wxYES) {
DEBUG_DEBUG("Applying vignetting corr");
// TODO: merge into a single update command
const VariableMapVector & vars = optPano.getVariables();
GlobalCmdHist::getInstance().addCommand(
new PT::UpdateImagesVariablesCmd(*m_pano, imgs, vars)
);
//now update panorama exposure value
PanoramaOptions opts = m_pano->getOptions();
opts.outputExposureValue = calcMeanExposure(*m_pano);
GlobalCmdHist::getInstance().addCommand(
new PT::SetPanoOptionsCmd(*m_pano, opts)
);
}
}
bool PanoDetector::matchMultiRow(PoolExecutor& aExecutor)
{
//step 1
std::vector<HuginBase::UIntSet> checkedImagePairs(_panoramaInfo->getNrOfImages());
std::vector<stack_img> stack_images;
HuginBase::StandardImageVariableGroups* variable_groups = new HuginBase::StandardImageVariableGroups(*_panoramaInfo);
for(unsigned int i=0; i<_panoramaInfo->getNrOfImages(); i++)
{
unsigned int stack_nr=variable_groups->getStacks().getPartNumber(i);
//check, if this stack is already in list
bool found=false;
unsigned int index=0;
for(index=0; index<stack_images.size(); index++)
{
found=(stack_images[index].layer_nr==stack_nr);
if(found)
{
break;
};
};
if(!found)
{
//new stack
stack_images.resize(stack_images.size()+1);
index=stack_images.size()-1;
//add new stack
stack_images[index].layer_nr=stack_nr;
};
//add new image
unsigned int new_image_index=stack_images[index].images.size();
stack_images[index].images.resize(new_image_index+1);
stack_images[index].images[new_image_index].img_nr=i;
stack_images[index].images[new_image_index].ev=_panoramaInfo->getImage(i).getExposure();
};
delete variable_groups;
//get image with median exposure for search with cp generator
vector<size_t> images_layer;
UIntSet images_layer_set;
for(unsigned int i=0; i<stack_images.size(); i++)
{
std::sort(stack_images[i].images.begin(),stack_images[i].images.end(),sort_img_ev);
unsigned int index=0;
if(stack_images[i].images[0].ev!=stack_images[i].images[stack_images[i].images.size()-1].ev)
{
index=stack_images[i].images.size() / 2;
};
images_layer.push_back(stack_images[i].images[index].img_nr);
images_layer_set.insert(stack_images[i].images[index].img_nr);
if(stack_images[i].images.size()>1)
{
//build match list for stacks
for(unsigned int j=0; j<stack_images[i].images.size()-1; j++)
{
size_t img1=stack_images[i].images[j].img_nr;
size_t img2=stack_images[i].images[j+1].img_nr;
_matchesData.push_back(MatchData());
MatchData& aM=_matchesData.back();
aM._i1=&(_filesData[img1]);
aM._i2=&(_filesData[img2]);
checkedImagePairs[img1].insert(img2);
checkedImagePairs[img2].insert(img1);
};
};
};
//build match data list for image pairs
if(images_layer.size()>1)
{
std::sort(images_layer.begin(), images_layer.end());
for(unsigned int i=0; i<images_layer.size()-1; i++)
{
size_t img1=images_layer[i];
size_t img2=images_layer[i+1];
_matchesData.push_back(MatchData());
MatchData& aM = _matchesData.back();
aM._i1 = &(_filesData[img1]);
aM._i2 = &(_filesData[img2]);
checkedImagePairs[img1].insert(img2);
checkedImagePairs[img2].insert(img1);
};
};
TRACE_INFO(endl<< "--- Find matches ---" << endl);
try
{
BOOST_FOREACH(MatchData& aMD, _matchesData)
aExecutor.execute(new MatchDataRunnable(aMD, *this));
aExecutor.wait();
}
catch(Synchronization_Exception& e)
{
TRACE_ERROR(e.what() << endl);
return false;
}
// Add detected matches to _panoramaInfo
BOOST_FOREACH(MatchData& aM, _matchesData)
BOOST_FOREACH(lfeat::PointMatchPtr& aPM, aM._matches)
_panoramaInfo->addCtrlPoint(ControlPoint(aM._i1->_number, aPM->_img1_x, aPM->_img1_y,
aM._i2->_number, aPM->_img2_x, aPM->_img2_y));
// step 2: connect all image groups
_matchesData.clear();
Panorama mediumPano=_panoramaInfo->getSubset(images_layer_set);
CPGraph graph;
createCPGraph(mediumPano, graph);
CPComponents comps;
unsigned int n = findCPComponents(graph, comps);
if(n>1)
{
vector<unsigned int> ImagesGroups;
for(unsigned int i=0; i<n; i++)
{
ImagesGroups.push_back(images_layer[*(comps[i].begin())]);
if(comps[i].size()>1)
{
ImagesGroups.push_back(images_layer[*(comps[i].rbegin())]);
}
};
for(unsigned int i=0; i<ImagesGroups.size()-1; i++)
{
for(unsigned int j=i+1; j<ImagesGroups.size(); j++)
{
size_t img1=ImagesGroups[i];
size_t img2=ImagesGroups[j];
//skip already checked image pairs
if(set_contains(checkedImagePairs[img1],img2))
{
continue;
};
_matchesData.push_back(MatchData());
MatchData& aM = _matchesData.back();
aM._i1 = &(_filesData[img1]);
aM._i2 = &(_filesData[img2]);
checkedImagePairs[img1].insert(img2);
checkedImagePairs[img2].insert(img1);
};
};
TRACE_INFO(endl<< "--- Find matches in images groups ---" << endl);
try
{
BOOST_FOREACH(MatchData& aMD, _matchesData)
aExecutor.execute(new MatchDataRunnable(aMD, *this));
aExecutor.wait();
}
catch(Synchronization_Exception& e)
{
TRACE_ERROR(e.what() << endl);
return false;
}
BOOST_FOREACH(MatchData& aM, _matchesData)
BOOST_FOREACH(lfeat::PointMatchPtr& aPM, aM._matches)
_panoramaInfo->addCtrlPoint(ControlPoint(aM._i1->_number, aPM->_img1_x, aPM->_img1_y,
aM._i2->_number, aPM->_img2_x, aPM->_img2_y));
};
// step 3: now connect all overlapping images
_matchesData.clear();
PT::Panorama optPano=_panoramaInfo->getSubset(images_layer_set);
createCPGraph(optPano, graph);
if(findCPComponents(graph, comps)==1)
{
if(images_layer.size()>2)
{
//reset translation parameters
VariableMapVector varMapVec=optPano.getVariables();
for(size_t i=0; i<varMapVec.size(); i++)
{
map_get(varMapVec[i], "TrX").setValue(0);
map_get(varMapVec[i], "TrY").setValue(0);
map_get(varMapVec[i], "TrZ").setValue(0);
};
optPano.updateVariables(varMapVec);
//next steps happens only when all images are connected;
//now optimize panorama
PanoramaOptions opts = optPano.getOptions();
opts.setProjection(PanoramaOptions::EQUIRECTANGULAR);
opts.optimizeReferenceImage=0;
// calculate proper scaling, 1:1 resolution.
// Otherwise optimizer distances are meaningless.
opts.setWidth(30000, false);
opts.setHeight(15000);
optPano.setOptions(opts);
int w = optPano.calcOptimalWidth();
opts.setWidth(w);
opts.setHeight(w/2);
optPano.setOptions(opts);
//generate optimize vector, optimize only yaw and pitch
OptimizeVector optvars;
const SrcPanoImage& anchorImage = optPano.getImage(opts.optimizeReferenceImage);
for (unsigned i=0; i < optPano.getNrOfImages(); i++)
{
std::set<std::string> imgopt;
if(i==opts.optimizeReferenceImage)
{
//optimize only anchors pitch, not yaw
imgopt.insert("p");
}
else
{
imgopt.insert("p");
imgopt.insert("y");
};
optvars.push_back(imgopt);
}
optPano.setOptimizeVector(optvars);
// remove vertical and horizontal control points
CPVector cps = optPano.getCtrlPoints();
CPVector newCP;
for (CPVector::const_iterator it = cps.begin(); it != cps.end(); it++)
{
if (it->mode == ControlPoint::X_Y)
{
newCP.push_back(*it);
}
}
optPano.setCtrlPoints(newCP);
if (getVerbose() < 2)
{
PT_setProgressFcn(ptProgress);
PT_setInfoDlgFcn(ptinfoDlg);
};
//in a first step do a pairwise optimisation
HuginBase::AutoOptimise::autoOptimise(optPano, false);
//now the final optimisation
HuginBase::PTools::optimize(optPano);
if (getVerbose() < 2)
{
PT_setProgressFcn(NULL);
PT_setInfoDlgFcn(NULL);
};
//now match overlapping images
if(!matchPrealigned(aExecutor, &optPano, checkedImagePairs, images_layer, false))
{
return false;
};
};
}
else
{
if(!match(aExecutor, checkedImagePairs))
{
return false;
};
};
return true;
};
CPVector AutoPanoSiftMultiRow::automatch(CPDetectorSetting &setting, Panorama & pano, const UIntSet & imgs,
int nFeatures, int & ret_value, wxWindow *parent)
{
CPVector cps;
if (imgs.size() < 2)
{
return cps;
};
std::vector<wxString> keyFiles(pano.getNrOfImages());
//generate cp for every consecutive image pair
unsigned int counter=0;
for(UIntSet::const_iterator it = imgs.begin(); it != imgs.end(); )
{
if(counter==imgs.size()-1)
break;
counter++;
UIntSet ImagePair;
ImagePair.clear();
ImagePair.insert(*it);
it++;
ImagePair.insert(*it);
AutoPanoSift matcher;
CPVector new_cps;
new_cps.clear();
if(setting.IsTwoStepDetector())
new_cps=matcher.automatch(setting, pano, ImagePair, nFeatures, keyFiles, ret_value, parent);
else
new_cps=matcher.automatch(setting, pano, ImagePair, nFeatures, ret_value, parent);
if(new_cps.size()>0)
AddControlPointsWithCheck(cps,new_cps);
if(ret_value!=0)
{
Cleanup(setting, pano, imgs, keyFiles, parent);
return cps;
};
};
// now connect all image groups
// generate temporary panorama to add all found cps
UIntSet allImgs;
fill_set(allImgs, 0, pano.getNrOfImages()-1);
Panorama optPano=pano.getSubset(allImgs);
for (CPVector::const_iterator it=cps.begin();it!=cps.end();++it)
optPano.addCtrlPoint(*it);
CPGraph graph;
createCPGraph(optPano, graph);
CPComponents comps;
int n = findCPComponents(graph, comps);
if(n>1)
{
UIntSet ImagesGroups;
for(unsigned int i=0;i<n;i++)
{
ImagesGroups.insert(*(comps[i].begin()));
if(comps[i].size()>1)
ImagesGroups.insert(*(comps[i].rbegin()));
};
AutoPanoSift matcher;
CPVector new_cps;
if(setting.IsTwoStepDetector())
new_cps=matcher.automatch(setting, optPano, ImagesGroups, nFeatures, keyFiles, ret_value, parent);
else
new_cps=matcher.automatch(setting, optPano, ImagesGroups, nFeatures, ret_value, parent);
if(new_cps.size()>0)
AddControlPointsWithCheck(cps,new_cps,&optPano);
if(ret_value!=0)
{
Cleanup(setting, pano, imgs, keyFiles, parent);
return cps;
};
createCPGraph(optPano,graph);
n=findCPComponents(graph, comps);
};
if(n==1 && setting.GetOption())
{
//next steps happens only when all images are connected;
//now optimize panorama
PanoramaOptions opts = pano.getOptions();
opts.setProjection(PanoramaOptions::EQUIRECTANGULAR);
// calculate proper scaling, 1:1 resolution.
// Otherwise optimizer distances are meaningless.
opts.setWidth(30000, false);
opts.setHeight(15000);
optPano.setOptions(opts);
int w = optPano.calcOptimalWidth();
opts.setWidth(w);
opts.setHeight(w/2);
optPano.setOptions(opts);
//generate optimize vector, optimize only yaw and pitch
OptimizeVector optvars;
const SrcPanoImage & anchorImage = optPano.getImage(opts.optimizeReferenceImage);
for (unsigned i=0; i < optPano.getNrOfImages(); i++)
{
std::set<std::string> imgopt;
if(i==opts.optimizeReferenceImage)
{
//optimize only anchors pitch, not yaw
imgopt.insert("p");
}
else
{
// do not optimize anchor image's stack for position.
if(!optPano.getImage(i).YawisLinkedWith(anchorImage))
{
imgopt.insert("p");
imgopt.insert("y");
};
};
optvars.push_back(imgopt);
}
optPano.setOptimizeVector(optvars);
// remove vertical and horizontal control points
CPVector backupOldCPS = optPano.getCtrlPoints();
CPVector backupNewCPS;
for (CPVector::const_iterator it = backupOldCPS.begin(); it != backupOldCPS.end(); it++) {
if (it->mode == ControlPoint::X_Y)
{
backupNewCPS.push_back(*it);
}
}
optPano.setCtrlPoints(backupNewCPS);
// do a first pairwise optimisation step
HuginBase::AutoOptimise::autoOptimise(optPano,false);
HuginBase::PTools::optimize(optPano);
optPano.setCtrlPoints(backupOldCPS);
//and find cp on overlapping images
//work only on image pairs, which are not yet connected
AutoPanoSiftPreAlign matcher;
CPDetectorSetting newSetting;
newSetting.SetProg(setting.GetProg());
newSetting.SetArgs(setting.GetArgs());
if(setting.IsTwoStepDetector())
{
newSetting.SetProgMatcher(setting.GetProgMatcher());
newSetting.SetArgsMatcher(setting.GetArgsMatcher());
};
newSetting.SetOption(true);
CPVector new_cps;
if(setting.IsTwoStepDetector())
new_cps=matcher.automatch(newSetting, optPano, imgs, nFeatures, keyFiles, ret_value, parent);
else
new_cps=matcher.automatch(newSetting, optPano, imgs, nFeatures, ret_value, parent);
if(new_cps.size()>0)
AddControlPointsWithCheck(cps,new_cps);
};
Cleanup(setting, pano, imgs, keyFiles, parent);
return cps;
};
