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implemented images pairwise matching via TBB (opencv_stitching), added procomp.hpp

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Alexey Spizhevoy 2011-05-23 11:31:02 +00:00
parent ae6d5252ab
commit 4827fbf326
19 changed files with 891 additions and 65 deletions
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41
modules/stitching/autocalib.cpp
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@ -1,3 +1,44 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "autocalib.hpp" #include "autocalib.hpp"
#include "util.hpp" #include "util.hpp"

44
modules/stitching/autocalib.hpp
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@ -1,8 +1,48 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_AUTOCALIB_HPP__ #ifndef __OPENCV_AUTOCALIB_HPP__
#define __OPENCV_AUTOCALIB_HPP__ #define __OPENCV_AUTOCALIB_HPP__
#include <vector> #include "precomp.hpp"
#include "opencv2/core/core.hpp"
#include "matchers.hpp" #include "matchers.hpp"
// See "Construction of Panoramic Image Mosaics with Global and Local Alignment" // See "Construction of Panoramic Image Mosaics with Global and Local Alignment"

43
modules/stitching/blenders.cpp
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@ -1,5 +1,44 @@
#include "opencv2/imgproc/imgproc.hpp" /*M///////////////////////////////////////////////////////////////////////////////////////
#include "opencv2/highgui/highgui.hpp" //
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "blenders.hpp" #include "blenders.hpp"
#include "util.hpp" #include "util.hpp"

44
modules/stitching/blenders.hpp
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@ -1,8 +1,48 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_BLENDERS_HPP__ #ifndef __OPENCV_BLENDERS_HPP__
#define __OPENCV_BLENDERS_HPP__ #define __OPENCV_BLENDERS_HPP__
#include <vector> #include "precomp.hpp"
#include "opencv2/core/core.hpp"
// Simple blender which puts one image over another // Simple blender which puts one image over another
class Blender class Blender

54
modules/stitching/main.cpp
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@ -1,5 +1,45 @@
#include "opencv2/core/core.hpp" /*M///////////////////////////////////////////////////////////////////////////////////////
#include "opencv2/highgui/highgui.hpp" //
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"
#include "util.hpp" #include "util.hpp"
#include "warpers.hpp" #include "warpers.hpp"
#include "blenders.hpp" #include "blenders.hpp"
@ -45,7 +85,7 @@ bool wave_correct = true;
int warp_type = Warper::SPHERICAL; int warp_type = Warper::SPHERICAL;
bool user_match_conf = false; bool user_match_conf = false;
float match_conf = 0.6f; float match_conf = 0.6f;
int seam_find_type = SeamFinder::VORONOI; int seam_find_type = SeamFinder::GRAPH_CUT;
int blend_type = Blender::MULTI_BAND; int blend_type = Blender::MULTI_BAND;
int numbands = 5; int numbands = 5;
string result_name = "result.png"; string result_name = "result.png";
@ -212,7 +252,7 @@ int main(int argc, char* argv[])
double work_scale = 1, seam_scale = 1, compose_scale = 1; double work_scale = 1, seam_scale = 1, compose_scale = 1;
bool is_work_scale_set = false, is_seam_scale_set = false, is_compose_scale_set = false; bool is_work_scale_set = false, is_seam_scale_set = false, is_compose_scale_set = false;
LOGLN("Reading images and finding features..."); LOGLN("Finding features...");
int64 t = getTickCount(); int64 t = getTickCount();
vector<ImageFeatures> features(num_images); vector<ImageFeatures> features(num_images);
@ -262,7 +302,7 @@ int main(int argc, char* argv[])
full_img.release(); full_img.release();
img.release(); img.release();
LOGLN("Reading images and finding features, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec"); LOGLN("Finding features, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
LOGLN("Pairwise matching... "); LOGLN("Pairwise matching... ");
t = getTickCount(); t = getTickCount();
@ -301,7 +341,7 @@ int main(int argc, char* argv[])
Mat R; Mat R;
cameras[i].R.convertTo(R, CV_32F); cameras[i].R.convertTo(R, CV_32F);
cameras[i].R = R; cameras[i].R = R;
LOGLN("Initial focal length " << i << ": " << cameras[i].focal); LOGLN("Initial focal length #" << i << ": " << cameras[i].focal);
} }
LOGLN("Bundle adjustment... "); LOGLN("Bundle adjustment... ");
@ -327,7 +367,7 @@ int main(int argc, char* argv[])
vector<double> focals; vector<double> focals;
for (size_t i = 0; i < cameras.size(); ++i) for (size_t i = 0; i < cameras.size(); ++i)
{ {
LOGLN("Camera focal length " << i << ": " << cameras[i].focal); LOGLN("Camera #" << i << " focal length: " << cameras[i].focal);
focals.push_back(cameras[i].focal); focals.push_back(cameras[i].focal);
} }
nth_element(focals.begin(), focals.end(), focals.begin() + focals.size() / 2); nth_element(focals.begin(), focals.end(), focals.begin() + focals.size() / 2);

143
modules/stitching/matchers.cpp
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@ -1,8 +1,46 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include <algorithm> #include <algorithm>
#include <functional> #include <functional>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/gpu/gpu.hpp"
#include "matchers.hpp" #include "matchers.hpp"
#include "util.hpp" #include "util.hpp"
@ -153,15 +191,65 @@ struct DistIdxPair
}; };
struct MatchPairsBody
{
MatchPairsBody(const MatchPairsBody& other)
: matcher(other.matcher), features(other.features),
pairwise_matches(other.pairwise_matches), near_pairs(other.near_pairs) {}
MatchPairsBody(FeaturesMatcher &matcher, const vector<ImageFeatures> &features,
vector<MatchesInfo> &pairwise_matches, vector<pair<int,int> > &near_pairs)
: matcher(matcher), features(features),
pairwise_matches(pairwise_matches), near_pairs(near_pairs) {}
void operator ()(const BlockedRange &r) const
{
const int num_images = static_cast<int>(features.size());
for (int i = r.begin(); i < r.end(); ++i)
{
int from = near_pairs[i].first;
int to = near_pairs[i].second;
int pair_idx = from*num_images + to;
matcher(features[from], features[to], pairwise_matches[pair_idx]);
pairwise_matches[pair_idx].src_img_idx = from;
pairwise_matches[pair_idx].dst_img_idx = to;
size_t dual_pair_idx = to*num_images + from;
pairwise_matches[dual_pair_idx] = pairwise_matches[pair_idx];
pairwise_matches[dual_pair_idx].src_img_idx = to;
pairwise_matches[dual_pair_idx].dst_img_idx = from;
if (!pairwise_matches[pair_idx].H.empty())
pairwise_matches[dual_pair_idx].H = pairwise_matches[pair_idx].H.inv();
for (size_t j = 0; j < pairwise_matches[dual_pair_idx].matches.size(); ++j)
swap(pairwise_matches[dual_pair_idx].matches[j].queryIdx,
pairwise_matches[dual_pair_idx].matches[j].trainIdx);
}
}
FeaturesMatcher &matcher;
const vector<ImageFeatures> &features;
vector<MatchesInfo> &pairwise_matches;
vector<pair<int,int> > &near_pairs;
private:
void operator =(const MatchPairsBody&);
};
void FeaturesMatcher::operator ()(const vector<ImageFeatures> &features, vector<MatchesInfo> &pairwise_matches) void FeaturesMatcher::operator ()(const vector<ImageFeatures> &features, vector<MatchesInfo> &pairwise_matches)
{ {
const int num_images = static_cast<int>(features.size()); const int num_images = static_cast<int>(features.size());
pairwise_matches.resize(num_images * num_images); Mat_<uchar> is_near(num_images, num_images);
is_near.setTo(0);
// Find good image pairs
for (int i = 0; i < num_images; ++i) for (int i = 0; i < num_images; ++i)
{ {
LOGLN("Processing image " << i << "... ");
vector<DistIdxPair> dists(num_images); vector<DistIdxPair> dists(num_images);
for (int j = 0; j < num_images; ++j) for (int j = 0; j < num_images; ++j)
{ {
@ -171,41 +259,30 @@ void FeaturesMatcher::operator ()(const vector<ImageFeatures> &features, vector<
} }
// Leave near images // Leave near images
vector<bool> is_near(num_images, false);
for (int j = 0; j < num_images; ++j) for (int j = 0; j < num_images; ++j)
if (dists[j].dist < 0.6) if (dists[j].dist < 0.6)
is_near[dists[j].idx] = true; is_near(i, dists[j].idx) = 1;
// Leave k-nearest images // Leave k-nearest images
int k = min(4, num_images); int k = min(4, num_images);
nth_element(dists.begin(), dists.end(), dists.begin() + k); nth_element(dists.begin(), dists.end(), dists.begin() + k);
for (int j = 0; j < k; ++j) for (int j = 0; j < k; ++j)
is_near[dists[j].idx] = true; is_near(i, dists[j].idx) = 1;
}
vector<pair<int,int> > near_pairs;
for (int i = 0; i < num_images - 1; ++i)
for (int j = i + 1; j < num_images; ++j) for (int j = i + 1; j < num_images; ++j)
{ if (is_near(i, j))
// Ignore poor image pairs near_pairs.push_back(make_pair(i, j));
if (!is_near[j])
continue;
int pair_idx = i * num_images + j; pairwise_matches.resize(num_images * num_images);
MatchPairsBody body(*this, features, pairwise_matches, near_pairs);
(*this)(features[i], features[j], pairwise_matches[pair_idx]); if (is_thread_safe_)
pairwise_matches[pair_idx].src_img_idx = i; parallel_for(BlockedRange(0, static_cast<int>(near_pairs.size())), body);
pairwise_matches[pair_idx].dst_img_idx = j; else
body(BlockedRange(0, static_cast<int>(near_pairs.size())));
// Set up dual pair matches info
size_t dual_pair_idx = j * num_images + i;
pairwise_matches[dual_pair_idx] = pairwise_matches[pair_idx];
pairwise_matches[dual_pair_idx].src_img_idx = j;
pairwise_matches[dual_pair_idx].dst_img_idx = i;
if (!pairwise_matches[pair_idx].H.empty())
pairwise_matches[dual_pair_idx].H = pairwise_matches[pair_idx].H.inv();
for (size_t i = 0; i < pairwise_matches[dual_pair_idx].matches.size(); ++i)
swap(pairwise_matches[dual_pair_idx].matches[i].queryIdx,
pairwise_matches[dual_pair_idx].matches[i].trainIdx);
}
}
} }
@ -216,7 +293,7 @@ namespace
class CpuMatcher : public FeaturesMatcher class CpuMatcher : public FeaturesMatcher
{ {
public: public:
inline CpuMatcher(float match_conf) : match_conf_(match_conf) {} CpuMatcher(float match_conf) : FeaturesMatcher(true), match_conf_(match_conf) {}
void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info); void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info);
private: private:
@ -259,7 +336,7 @@ namespace
class GpuMatcher : public FeaturesMatcher class GpuMatcher : public FeaturesMatcher
{ {
public: public:
inline GpuMatcher(float match_conf) : match_conf_(match_conf) {} GpuMatcher(float match_conf) : match_conf_(match_conf) {}
void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info); void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info);
private: private:
@ -324,6 +401,7 @@ BestOf2NearestMatcher::BestOf2NearestMatcher(bool try_use_gpu, float match_conf,
else else
impl_ = new CpuMatcher(match_conf); impl_ = new CpuMatcher(match_conf);
is_thread_safe_ = impl_->isThreadSafe();
num_matches_thresh1_ = num_matches_thresh1; num_matches_thresh1_ = num_matches_thresh1;
num_matches_thresh2_ = num_matches_thresh2; num_matches_thresh2_ = num_matches_thresh2;
} }
@ -337,7 +415,6 @@ void BestOf2NearestMatcher::match(const ImageFeatures &features1, const ImageFea
// Check if it makes sense to find homography // Check if it makes sense to find homography
if (matches_info.matches.size() < static_cast<size_t>(num_matches_thresh1_)) if (matches_info.matches.size() < static_cast<size_t>(num_matches_thresh1_))
return; return;
// Construct point-point correspondences for homography estimation // Construct point-point correspondences for homography estimation
Mat src_points(1, matches_info.matches.size(), CV_32FC2); Mat src_points(1, matches_info.matches.size(), CV_32FC2);
Mat dst_points(1, matches_info.matches.size(), CV_32FC2); Mat dst_points(1, matches_info.matches.size(), CV_32FC2);

53
modules/stitching/matchers.hpp
View File

@ -1,9 +1,48 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_MATCHERS_HPP__ #ifndef __OPENCV_MATCHERS_HPP__
#define __OPENCV_MATCHERS_HPP__ #define __OPENCV_MATCHERS_HPP__
#include <vector> #include "precomp.hpp"
#include "opencv2/core/core.hpp"
#include "opencv2/features2d/features2d.hpp"
struct ImageFeatures struct ImageFeatures
{ {
@ -59,11 +98,17 @@ class FeaturesMatcher
public: public:
virtual ~FeaturesMatcher() {} virtual ~FeaturesMatcher() {}
void operator ()(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info) void operator ()(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info)
{ match(features1, features2, matches_info); } {
match(features1, features2, matches_info);
}
void operator ()(const std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches); void operator ()(const std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches);
bool isThreadSafe() const { return is_thread_safe_; }
protected: protected:
FeaturesMatcher(bool is_thread_safe = false) : is_thread_safe_(is_thread_safe) {}
virtual void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info) = 0; virtual void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info) = 0;
bool is_thread_safe_;
}; };

43
modules/stitching/motion_estimators.cpp
View File

@ -1,6 +1,45 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include <algorithm> #include <algorithm>
#include "opencv2/core/core_c.h"
#include "opencv2/calib3d/calib3d.hpp"
#include "autocalib.hpp" #include "autocalib.hpp"
#include "motion_estimators.hpp" #include "motion_estimators.hpp"
#include "util.hpp" #include "util.hpp"

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_MOTION_ESTIMATORS_HPP__ #ifndef __OPENCV_MOTION_ESTIMATORS_HPP__
#define __OPENCV_MOTION_ESTIMATORS_HPP__ #define __OPENCV_MOTION_ESTIMATORS_HPP__
#include <vector> #include "precomp.hpp"
#include "opencv2/core/core.hpp"
#include "matchers.hpp" #include "matchers.hpp"
#include "util.hpp" #include "util.hpp"

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "precomp.hpp"

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_STITCHING_PRECOMP_H__
#define __OPENCV_STITCHING_PRECOMP_H__
#ifdef HAVE_CONFIG_H
#include "cvconfig.h"
#endif
#include "opencv2/core/core.hpp"
#include "opencv2/core/internal.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "gcgraph.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/gpu/gpu.hpp"
#include <vector>
#endif

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#include "opencv2/imgproc/imgproc.hpp" /*M///////////////////////////////////////////////////////////////////////////////////////
#include <gcgraph.hpp> //
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "seam_finders.hpp" #include "seam_finders.hpp"
#include "util.hpp" #include "util.hpp"

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_SEAM_FINDERS_HPP__ #ifndef __OPENCV_SEAM_FINDERS_HPP__
#define __OPENCV_SEAM_FINDERS_HPP__ #define __OPENCV_SEAM_FINDERS_HPP__
#include <vector> #include "precomp.hpp"
#include "opencv2/core/core.hpp"
class SeamFinder class SeamFinder
{ {

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "util.hpp" #include "util.hpp"
using namespace std; using namespace std;

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_STITCHING_UTIL_HPP__ #ifndef __OPENCV_STITCHING_UTIL_HPP__
#define __OPENCV_STITCHING_UTIL_HPP__ #define __OPENCV_STITCHING_UTIL_HPP__
#include <vector>
#include <list> #include <list>
#include "opencv2/core/core.hpp" #include "precomp.hpp"
#define ENABLE_LOG 1 #define ENABLE_LOG 1

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_STITCHING_UTIL_INL_HPP__ #ifndef __OPENCV_STITCHING_UTIL_INL_HPP__
#define __OPENCV_STITCHING_UTIL_INL_HPP__ #define __OPENCV_STITCHING_UTIL_INL_HPP__

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modules/stitching/warpers.cpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include "warpers.hpp" #include "warpers.hpp"
using namespace std; using namespace std;

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_WARPERS_HPP__ #ifndef __OPENCV_WARPERS_HPP__
#define __OPENCV_WARPERS_HPP__ #define __OPENCV_WARPERS_HPP__
#include "opencv2/core/core.hpp" #include "precomp.hpp"
#include "opencv2/imgproc/imgproc.hpp"
class Warper class Warper
{ {

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modules/stitching/warpers_inl.hpp
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/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other materials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors "as is" and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#ifndef __OPENCV_WARPERS_INL_HPP__ #ifndef __OPENCV_WARPERS_INL_HPP__
#define __OPENCV_WARPERS_INL_HPP__ #define __OPENCV_WARPERS_INL_HPP__