Linking pitch and roll

[Henrik Engström]

Hi, I am using a pan/tilt robot to take pictures which I later assemble to a panorama using Hugin. Using the robot I get very a precise yaw-position for each image, and I input these values into Hugin. Then I want to optimize roll, pitch and the lens parameters before stitching. All the lens parameters are linked to a single lens instance (I do not touch zoom/focus during the take). I would like to link the pitch and roll parameters to a single instance as well, but I cannot find out how to do that. Does anyone know if it is possible in Hugin?

It is possible in PTOptimizer, you can edit the .pto-file and enter ‘r=0’ and ‘p=0’ for all but the first image and only optimize r0 and p0, but it would be nicer to be able to do it from within the Hugin GUI.

The reason I want to do it this way is that I believe the cameras axis of rotation is very rigid. If assuming the axis is pointing straight up, then each image should have the exact same pitch and roll (only different yaw), and should be optimized as a single instance. And it is always good to keep the number of free parameters as low as possible.

In real life the axis is of course not pointing perfectly straight upwards, but that can be corrected after the first optimization by dragging the whole panorama as one entity.

- Henrik

[T. Modes]

Hi Henrik,

henri...@gmail.com schrieb am Montag, 11. November 2024 um 14:37:01 UTC+1:

Hi, I am using a pan/tilt robot to take pictures which I later assemble to a panorama using Hugin. Using the robot I get very a precise yaw-position for each image, and I input these values into Hugin. Then I want to optimize roll, pitch and the lens parameters before stitching. All the lens parameters are linked to a single lens instance (I do not touch zoom/focus during the take). I would like to link the pitch and roll parameters to a single instance as well, but I cannot find out how to do that. Does anyone know if it is possible in Hugin?

This is not possible in the GUI.

The reason I want to do it this way is that I believe the cameras axis of rotation is very rigid. If assuming the axis is pointing straight up, then each image should have the exact same pitch and roll (only different yaw), and should be optimized as a single instance. And it is always good to keep the number of free parameters as low as possible.

In real life the axis is of course not pointing perfectly straight upwards, but that can be corrected after the first optimization by dragging the whole panorama as one entity.

Not sure, if this works as you think. The axis must not only be very rigid, it needs also to exactly adjusted so that all axes (pano head, camera, lens, non-nodal point) are identical. If there is only a small deviation, then the pitch value will not be constant, instead it will change when the yaw changes.

Thomas

[Henrik Engström]

Thanks for the info Thomas.

It works very well for me when using the standalone PTOptimizer.exe and locking pitch/roll. The reason for this is probably that the yaw is the last transform applied to the camera, and you do not really need to pre-adjust the other axes as long as they are constant with respect to the axis of rotation. My goal is to make a geographically correct panorama that can be used as a ground truth and calibrate other cameras against. Using this method I get a very exact representation of the surrounding view. After this procedure the only remaining uncertainty is to adjust the horizon, but that is easily done from within Hugin.

- Henrik

[Carson reeds]

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[Carson reeds]

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