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added gain compensation into opencv_stitching

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This commit is contained in:
Alexey Spizhevoy
2011-05-25 09:09:41 +00:00
parent 331062360d
commit 899d7726d3
9 changed files with 236 additions and 77 deletions
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68
modules/stitching/main.cpp
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@@ -39,6 +39,13 @@
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
// We follow to methods described in these two papers:
// - Heung-Yeung Shum and Richard Szeliski.
// Construction of panoramic mosaics with global and local alignment. 2000.
// - Matthew Brown and David G. Lowe.
// Automatic Panoramic Image Stitching using Invariant Features. 2007.
#include "precomp.hpp"
#include "util.hpp"
#include "warpers.hpp"
@@ -63,6 +70,7 @@ void printUsage()
<< "\t[--conf_thresh <float>]\n"
<< "\t[--wavecorrect (no|yes)]\n"
<< "\t[--warp (plane|cylindrical|spherical)]\n"
<< "\t[--exposcomp (no|overlap)]\n"
<< "\t[--seam (no|voronoi|graphcut)]\n"
<< "\t[--blend (no|feather|multiband)]\n"
<< "\t[--numbands <int>]\n"
@@ -84,6 +92,7 @@ int ba_space = BundleAdjuster::FOCAL_RAY_SPACE;
float conf_thresh = 1.f;
bool wave_correct = true;
int warp_type = Warper::SPHERICAL;
int expos_comp_type = ExposureCompensator::OVERLAP;
bool user_match_conf = false;
float match_conf = 0.6f;
int seam_find_type = SeamFinder::GRAPH_CUT;
@@ -186,6 +195,19 @@ int parseCmdArgs(int argc, char** argv)
}
i++;
}
else if (string(argv[i]) == "--exposcomp")
{
if (string(argv[i + 1]) == "no")
expos_comp_type = ExposureCompensator::NO;
else if (string(argv[i + 1]) == "overlap")
expos_comp_type = ExposureCompensator::OVERLAP;
else
{
cout << "Bad exposure compensation method\n";
return -1;
}
i++;
}
else if (string(argv[i]) == "--seam")
{
if (string(argv[i + 1]) == "no")
@@ -372,7 +394,7 @@ int main(int argc, char* argv[])
focals.push_back(cameras[i].focal);
}
nth_element(focals.begin(), focals.end(), focals.begin() + focals.size() / 2);
float camera_focal = static_cast<float>(focals[focals.size() / 2]);
float warped_image_scale = static_cast<float>(focals[focals.size() / 2]);
LOGLN("Warping images (auxiliary)... ");
t = getTickCount();
@@ -391,7 +413,7 @@ int main(int argc, char* argv[])
}
// Warp images and their masks
Ptr<Warper> warper = Warper::createByCameraFocal(static_cast<float>(camera_focal * seam_work_aspect),
Ptr<Warper> warper = Warper::createByCameraFocal(static_cast<float>(warped_image_scale * seam_work_aspect),
warp_type);
for (int i = 0; i < num_images; ++i)
{
@@ -410,8 +432,8 @@ int main(int argc, char* argv[])
LOGLN("Exposure compensation (feed)...");
t = getTickCount();
Ptr<ExposureCompensator> compensator = new NoExposureCompensator();
compensator->feed(images_warped, masks_warped);
Ptr<ExposureCompensator> compensator = ExposureCompensator::createDefault(expos_comp_type);
compensator->feed(corners, images_warped, masks_warped);
LOGLN("Exposure compensation (feed), time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
LOGLN("Finding seams...");
@@ -446,10 +468,27 @@ int main(int argc, char* argv[])
if (compose_megapix > 0)
compose_scale = min(1.0, sqrt(compose_megapix * 1e6 / full_img.size().area()));
is_compose_scale_set = true;
// Compute relative scales
compose_seam_aspect = compose_scale / seam_scale;
compose_work_aspect = compose_scale / work_scale;
camera_focal *= static_cast<float>(compose_work_aspect);
warper = Warper::createByCameraFocal(camera_focal, warp_type);
// Update warped image scale
warped_image_scale *= static_cast<float>(compose_work_aspect);
warper = Warper::createByCameraFocal(warped_image_scale, warp_type);
// Update corners and sizes
Rect dst_roi = resultRoi(corners, sizes);
for (int i = 0; i < num_images; ++i)
{
// Update camera focal
cameras[i].focal *= compose_work_aspect;
// Update corner and size
corners[i] = dst_roi.tl() + (corners[i] - dst_roi.tl()) * compose_seam_aspect;
sizes[i] = Size(static_cast<int>((sizes[i].width + 1) * compose_seam_aspect),
static_cast<int>((sizes[i].height + 1) * compose_seam_aspect));
}
}
if (abs(compose_scale - 1) > 1e-1)
resize(full_img, img, Size(), compose_scale, compose_scale);
@@ -458,21 +497,18 @@ int main(int argc, char* argv[])
full_img.release();
Size img_size = img.size();
// Update cameras paramters
cameras[img_idx].focal *= compose_work_aspect;
// Warp the current image
warper->warp(img, static_cast<float>(cameras[img_idx].focal), cameras[img_idx].R,
img_warped);
// Warp current image mask
// Warp the current image mask
mask.create(img_size, CV_8U);
mask.setTo(Scalar::all(255));
warper->warp(mask, static_cast<float>(cameras[img_idx].focal), cameras[img_idx].R, mask_warped,
INTER_NEAREST, BORDER_CONSTANT);
// Compensate exposure
compensator->apply(img_idx, img_warped, mask_warped);
compensator->apply(img_idx, corners[img_idx], img_warped, mask_warped);
img_warped.convertTo(img_warped_s, CV_16S);
img_warped.release();
@@ -486,21 +522,11 @@ int main(int argc, char* argv[])
if (static_cast<Blender*>(blender) == 0)
{
blender = Blender::createDefault(blend_type);
if (blend_type == Blender::MULTI_BAND)
{
MultiBandBlender* mb = dynamic_cast<MultiBandBlender*>(static_cast<Blender*>(blender));
mb->setNumBands(numbands);
}
// Determine the final image size
Rect dst_roi = resultRoi(corners, sizes);
for (int i = 0; i < num_images; ++i)
{
corners[i] = dst_roi.tl() + (corners[i] - dst_roi.tl()) * compose_seam_aspect;
sizes[i] = Size(static_cast<int>((sizes[i].width + 1) * compose_seam_aspect),
static_cast<int>((sizes[i].height + 1) * compose_seam_aspect));
}
blender->prepare(corners, sizes);
}