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Providing Panorama Stitcher with Camera Rotations

asked 2014-07-02 01:47:21 -0500

Adi gravatar image

updated 2014-07-02 01:50:26 -0500

When I capture images on a mobile device I can use the tilt-sensor and magnetometer to get the camera rotation matrix for each frame - or at least an initial estimate of it.

Is there a way to provide Stitcher or the "detailed-pipeline" these estimates for improving the convergence and results?

(cross post)

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answered 2014-07-16 06:27:49 -0500

Duffycola gravatar image

Looking both at the high-level Stitcher class and the detailed demo in samples/stitching_detailed.cpp, you would have to work here:

detail::HomographyBasedEstimator estimator;
estimator(features_, pairwise_matches_, cameras_);

...

bundle_adjuster_->setConfThresh(conf_thresh_);
(*bundle_adjuster_)(features_, pairwise_matches_, cameras_);

In a sense, you already have computed the homographies frame-by-frame. Therefore you can skip re-estimating homographies for all frames. When you set the cameras to you guesses, they are used by the bundle adjustment as initial guesses.

However, it doesn't seem that the current stitching pipeline can update only the (k-)newest frame(s). So this approach would work if you record a video and stitch the images together finally. If you wanted to stitch continuously, you'd have to construct a more complex pipeline.

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answered 2014-07-02 11:56:31 -0500

You can't with the actual implementation of Stitcher, but it would be an interesting feature to provide! Feel free to create a pull request whenever you will have it ;-)

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Asked: 2014-07-02 01:47:21 -0500

Seen: 374 times

Last updated: Jul 16 '14