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Improvement for Auto Distortion correction, Issue 2386

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Ingo 2014-05-23 15:56:16 +02:00
parent 5180a03c45
commit 0a3dbfc919
3 changed files with 24 additions and 13 deletions
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30
rtengine/calc_distort.cc
View File

@ -8,6 +8,7 @@ and prints the features to the screen.
#include "klt/pnmio.h" #include "klt/pnmio.h"
#include "klt/klt.h" #include "klt/klt.h"
#include <cmath> #include <cmath>
#include <cstring>
#define N_FEATURES 100 #define N_FEATURES 100
#define DELTA_1 0.05 #define DELTA_1 0.05
@ -30,7 +31,7 @@ void drawDot(unsigned char* img, int ncols, int nrows, double r0, double r10, in
} }
#endif #endif
double calcDistortion(unsigned char* img1, unsigned char* img2, int ncols, int nrows) int calcDistortion(unsigned char* img1, unsigned char* img2, int ncols, int nrows, int nfactor, double &distortion)
{ {
KLT_TrackingContext tc; KLT_TrackingContext tc;
KLT_FeatureList fl; KLT_FeatureList fl;
@ -38,8 +39,10 @@ double calcDistortion(unsigned char* img1, unsigned char* img2, int ncols, int n
int i,n; int i,n;
double radius, wc, hc; double radius, wc, hc;
double r0[N_FEATURES] = {0.0}; double r0[N_FEATURES*nfactor];
double r10[N_FEATURES] = {0.0}; memset(r0,0,N_FEATURES*nfactor*sizeof(double));
double r10[N_FEATURES*nfactor];
memset(r10,0,N_FEATURES*nfactor*sizeof(double));
tc = KLTCreateTrackingContext(); tc = KLTCreateTrackingContext();
//tc->mindist = 20; //tc->mindist = 20;
@ -48,8 +51,8 @@ double calcDistortion(unsigned char* img1, unsigned char* img2, int ncols, int n
tc->step_factor = 2.0; tc->step_factor = 2.0;
tc->max_iterations = 20; tc->max_iterations = 20;
//KLTPrintTrackingContext(tc); //KLTPrintTrackingContext(tc);
fl = KLTCreateFeatureList(N_FEATURES); fl = KLTCreateFeatureList(N_FEATURES*nfactor);
ft = KLTCreateFeatureTable(2, N_FEATURES); ft = KLTCreateFeatureTable(2, N_FEATURES*nfactor);
radius = sqrt(ncols*ncols+nrows*nrows)/2.0; radius = sqrt(ncols*ncols+nrows*nrows)/2.0;
wc=((double)ncols)/2.0-0.5; wc=((double)ncols)/2.0-0.5;
@ -68,7 +71,7 @@ double calcDistortion(unsigned char* img1, unsigned char* img2, int ncols, int n
// find the best comp and scale when assume r1 = r0*(1.0-comp+(r0*comp))*scale; // find the best comp and scale when assume r1 = r0*(1.0-comp+(r0*comp))*scale;
n=0; n=0;
double total_r10=0.0, total_r0=0.0; double total_r10=0.0, total_r0=0.0;
for (i=0;i<N_FEATURES;i++) { for (i=0;i<N_FEATURES*nfactor;i++) {
if (ft->feature[i][1]->val>=0) { if (ft->feature[i][1]->val>=0) {
double x0,y0,x1,y1; double x0,y0,x1,y1;
x0=ft->feature[i][0]->x; x0=ft->feature[i][0]->x;
@ -92,7 +95,8 @@ double calcDistortion(unsigned char* img1, unsigned char* img2, int ncols, int n
if (n < 5) { if (n < 5) {
printf ("Not sufficient features.\n"); printf ("Not sufficient features.\n");
return 0.0; distortion = 0.0;
return -1;
} }
double avg_r10 = total_r10 / n; double avg_r10 = total_r10 / n;
@ -140,7 +144,8 @@ double calcDistortion(unsigned char* img1, unsigned char* img2, int ncols, int n
if (new_n < 5) { if (new_n < 5) {
printf ("Not sufficient features.\n"); printf ("Not sufficient features.\n");
return 0.0; distortion = 0.0;
return -1;
} }
printf ("Removed %d outstading data points\n", n-new_n); printf ("Removed %d outstading data points\n", n-new_n);
@ -213,15 +218,18 @@ double calcDistortion(unsigned char* img1, unsigned char* img2, int ncols, int n
if (total_delta / new_n > DELTA_2) { if (total_delta / new_n > DELTA_2) {
printf ("Deviation is too big.\n"); printf ("Deviation is too big.\n");
return 0.0; distortion = 0.0;
return -2;
} }
if (rxy < RXY_LIMIT) { if (rxy < RXY_LIMIT) {
printf ("Not linear enough\n"); printf ("Not linear enough\n");
return 0.0; distortion = 0.0;
return -3;
} }
printf ("distortion amount=%lf scale=%lf deviation=%lf, rxy=%lf\n", a, b, total_delta/n, rxy); printf ("distortion amount=%lf scale=%lf deviation=%lf, rxy=%lf\n", a, b, total_delta/n, rxy);
return a; distortion = a;
return 1;
} }

2
rtengine/calc_distort.h
View File

@ -1,4 +1,4 @@
#ifndef CALC_DISTORTION__H #ifndef CALC_DISTORTION__H
#define CALC_DISTORTION__H #define CALC_DISTORTION__H
double calcDistortion (unsigned char* img1, unsigned char* img2, int ncols, int nrows); int calcDistortion (unsigned char* img1, unsigned char* img2, int ncols, int nrows, int nfactor, double &distortion);
#endif #endif

5
rtengine/improcfun.cc
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@ -4385,7 +4385,10 @@ fclose(f);*/
return 0.0; return 0.0;
} }
double dist_amount = calcDistortion (thumbGray, rawGray, width, h_thumb); double dist_amount;
int dist_result = calcDistortion (thumbGray, rawGray, width, h_thumb, 1, dist_amount);
if(dist_result == -1) // not enough features found, try increasing max. number of features by factor 4
dist_result = calcDistortion (thumbGray, rawGray, width, h_thumb, 4, dist_amount);
delete thumbGray; delete thumbGray;
delete rawGray; delete rawGray;
delete thumb; delete thumb;