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Added handling of ROI in stitching features matchers

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This commit is contained in:
Alexey Spizhevoy 2011-09-26 09:59:13 +00:00
parent b053a3b486
commit a7d053f10d
4 changed files with 51 additions and 1 deletions
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1
modules/stitching/include/opencv2/stitching/detail/matchers.hpp
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@ -67,6 +67,7 @@ class CV_EXPORTS FeaturesFinder
public:
virtual ~FeaturesFinder() {}
void operator ()(const Mat &image, ImageFeatures &features);
void operator ()(const Mat &image, ImageFeatures &features, const std::vector<cv::Rect> &rois);
virtual void collectGarbage() {}
protected:

2
modules/stitching/include/opencv2/stitching/stitcher.hpp
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@ -66,6 +66,7 @@ public:
// Stitches the biggest found pano. Returns status code.
Status stitch(InputArray imgs, OutputArray pano);
Status stitch(InputArray imgs, const std::vector<std::vector<cv::Rect> > &rois, OutputArray pano);
double registrationResol() const { return registr_resol_; }
void setRegistrationResol(double resol_mpx) { registr_resol_ = resol_mpx; }
@ -147,6 +148,7 @@ private:
Ptr<detail::Blender> blender_;
std::vector<cv::Mat> imgs_;
std::vector<std::vector<cv::Rect> > rois_;
std::vector<cv::Size> full_img_sizes_;
std::vector<detail::ImageFeatures> features_;
std::vector<detail::MatchesInfo> pairwise_matches_;

37
modules/stitching/src/matchers.cpp
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@ -249,10 +249,47 @@ namespace detail {
void FeaturesFinder::operator ()(const Mat &image, ImageFeatures &features)
{
find(image, features);
cout << features.descriptors.cols << " " << features.descriptors.rows << " " << features.descriptors.type() << endl;
features.img_size = image.size();
}
// TODO add tests for this function
void FeaturesFinder::operator ()(const Mat &image, ImageFeatures &features, const vector<Rect> &rois)
{
vector<ImageFeatures> roi_features;
size_t total_kps_count = 0;
int total_descriptors_width = 0;
for (size_t i = 0; i < rois.size(); ++i)
{
find(image(rois[i]), roi_features[i]);
total_kps_count += roi_features[i].keypoints.size();
total_descriptors_width += roi_features[i].descriptors.cols;
}
features.img_size = image.size();
features.keypoints.resize(total_kps_count);
features.descriptors.create(1, total_descriptors_width, roi_features[0].descriptors.type());
int kp_idx = 0;
int descr_offset = 0;
for (size_t i = 0; i < rois.size(); ++i)
{
for (size_t j = 0; j < features.keypoints.size(); ++j, ++kp_idx)
{
features.keypoints[kp_idx] = roi_features[i].keypoints[j];
features.keypoints[kp_idx].pt.x += (float)rois[i].x;
features.keypoints[kp_idx].pt.y += (float)rois[i].y;
}
Mat subdescr = features.descriptors.colRange(
descr_offset, descr_offset + roi_features[i].descriptors.cols);
roi_features[i].descriptors.copyTo(subdescr);
descr_offset += roi_features[i].descriptors.cols;
}
}
SurfFeaturesFinder::SurfFeaturesFinder(double hess_thresh, int num_octaves, int num_layers,
int num_octaves_descr, int num_layers_descr)
{

12
modules/stitching/src/stitcher.cpp
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@ -100,6 +100,13 @@ Stitcher::Status Stitcher::stitch(InputArray imgs, OutputArray pano)
}
Stitcher::Status Stitcher::stitch(InputArray imgs, const vector<vector<Rect> > &rois, OutputArray pano)
{
rois_ = rois;
return stitch(imgs, pano);
}
Stitcher::Status Stitcher::matchImages()
{
if ((int)imgs_.size() < 2)
@ -148,7 +155,10 @@ Stitcher::Status Stitcher::matchImages()
is_seam_scale_set = true;
}
(*features_finder_)(img, features_[i]);
if (rois_.empty())
(*features_finder_)(img, features_[i]);
else
(*features_finder_)(img, features_[i], rois_[i]);
features_[i].img_idx = i;
LOGLN("Features in image #" << i+1 << ": " << features_[i].keypoints.size());