added first version of public stitching API, added simple sample which uses that API, old sample renamed to stitching_detailed
This commit is contained in:
Alexey Spizhevoy
parent
1449dd1f02
commit
c9a41c6802
@ -39,6 +39,7 @@
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_STITCHING_AUTOCALIB_HPP__
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#define __OPENCV_STITCHING_AUTOCALIB_HPP__
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@ -39,6 +39,7 @@
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_STITCHING_BLENDERS_HPP__
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#define __OPENCV_STITCHING_BLENDERS_HPP__
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@ -56,7 +57,7 @@ public:
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enum { NO, FEATHER, MULTI_BAND };
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static Ptr<Blender> createDefault(int type, bool try_gpu = false);
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void prepare(const std::vector<Point> &corners, const std::vector<Size> &sizes);
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void prepare(const std::vector<Point> &corners, const std::vector<Size> &sizes);
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virtual void prepare(Rect dst_roi);
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virtual void feed(const Mat &img, const Mat &mask, Point tl);
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virtual void blend(Mat &dst, Mat &dst_mask);
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@ -39,6 +39,7 @@
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_STITCHING_CAMERA_HPP__
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#define __OPENCV_STITCHING_CAMERA_HPP__
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@ -39,6 +39,7 @@
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_STITCHING_EXPOSURE_COMPENSATE_HPP__
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#define __OPENCV_STITCHING_EXPOSURE_COMPENSATE_HPP__
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@ -39,6 +39,7 @@
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_STITCHING_MATCHERS_HPP__
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#define __OPENCV_STITCHING_MATCHERS_HPP__
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@ -51,9 +52,9 @@ namespace detail {
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struct CV_EXPORTS ImageFeatures
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{
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int img_idx;
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cv::Size img_size;
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std::vector<cv::KeyPoint> keypoints;
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cv::Mat descriptors;
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Size img_size;
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std::vector<KeyPoint> keypoints;
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Mat descriptors;
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};
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@ -61,12 +62,13 @@ class CV_EXPORTS FeaturesFinder
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{
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public:
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virtual ~FeaturesFinder() {}
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void operator ()(const cv::Mat &image, ImageFeatures &features);
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void operator ()(const Mat &image, ImageFeatures &features);
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virtual void releaseMemory() {}
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// TODO put it into operator ()
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virtual void collectGarbage() {}
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protected:
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virtual void find(const cv::Mat &image, ImageFeatures &features) = 0;
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virtual void find(const Mat &image, ImageFeatures &features) = 0;
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};
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@ -77,12 +79,12 @@ public:
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int num_octaves = 3, int num_layers = 4,
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int num_octaves_descr = 4, int num_layers_descr = 2);
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void releaseMemory();
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void collectGarbage();
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protected:
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void find(const cv::Mat &image, ImageFeatures &features);
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void find(const Mat &image, ImageFeatures &features);
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cv::Ptr<FeaturesFinder> impl_;
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Ptr<FeaturesFinder> impl_;
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};
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@ -93,10 +95,10 @@ struct CV_EXPORTS MatchesInfo
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const MatchesInfo& operator =(const MatchesInfo &other);
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int src_img_idx, dst_img_idx; // Images indices (optional)
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std::vector<cv::DMatch> matches;
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std::vector<DMatch> matches;
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std::vector<uchar> inliers_mask; // Geometrically consistent matches mask
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int num_inliers; // Number of geometrically consistent matches
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cv::Mat H; // Estimated homography
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Mat H; // Estimated homography
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double confidence; // Confidence two images are from the same panorama
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};
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@ -112,7 +114,7 @@ public:
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bool isThreadSafe() const { return is_thread_safe_; }
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virtual void releaseMemory() {}
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virtual void collectGarbage() {}
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protected:
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FeaturesMatcher(bool is_thread_safe = false) : is_thread_safe_(is_thread_safe) {}
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@ -127,17 +129,17 @@ protected:
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class CV_EXPORTS BestOf2NearestMatcher : public FeaturesMatcher
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{
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public:
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BestOf2NearestMatcher(bool try_use_gpu = true, float match_conf = 0.55f, int num_matches_thresh1 = 6,
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BestOf2NearestMatcher(bool try_use_gpu = true, float match_conf = 0.65f, int num_matches_thresh1 = 6,
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int num_matches_thresh2 = 6);
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void releaseMemory();
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void collectGarbage();
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protected:
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void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo &matches_info);
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int num_matches_thresh1_;
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int num_matches_thresh2_;
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cv::Ptr<FeaturesMatcher> impl_;
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Ptr<FeaturesMatcher> impl_;
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};
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} // namespace detail
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@ -39,6 +39,7 @@
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_STITCHING_MOTION_ESTIMATORS_HPP__
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#define __OPENCV_STITCHING_MOTION_ESTIMATORS_HPP__
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@ -39,6 +39,7 @@
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_STITCHING_SEAM_FINDERS_HPP__
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#define __OPENCV_STITCHING_SEAM_FINDERS_HPP__
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@ -39,6 +39,7 @@
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_STITCHING_UTIL_HPP__
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#define __OPENCV_STITCHING_UTIL_HPP__
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@ -47,6 +48,7 @@
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#define ENABLE_LOG 1
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// TODO remove LOG macros, add logging class
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#if ENABLE_LOG
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#include <iostream>
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#define LOG(msg) { std::cout << msg; std::cout.flush(); }
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@ -39,6 +39,7 @@
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_STITCHING_UTIL_INL_HPP__
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#define __OPENCV_STITCHING_UTIL_INL_HPP__
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@ -39,6 +39,7 @@
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_STITCHING_WARPERS_HPP__
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#define __OPENCV_STITCHING_WARPERS_HPP__
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@ -55,11 +56,13 @@ class CV_EXPORTS Warper
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{
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public:
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enum { PLANE, CYLINDRICAL, SPHERICAL };
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// TODO remove this method
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static Ptr<Warper> createByCameraFocal(float focal, int type, bool try_gpu = false);
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virtual ~Warper() {}
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virtual Point warp(const Mat &src, float focal, const Mat& R, Mat &dst,
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int interp_mode = INTER_LINEAR, int border_mode = BORDER_REFLECT) = 0;
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int interp_mode = INTER_LINEAR, int border_mode = BORDER_REFLECT) = 0;
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virtual Rect warpRoi(const Size &sz, float focal, const Mat &R) = 0;
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};
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@ -81,7 +84,7 @@ class CV_EXPORTS WarperBase : public Warper
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{
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public:
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virtual Point warp(const Mat &src, float focal, const Mat &R, Mat &dst,
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int interp_mode, int border_mode);
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int interp_mode, int border_mode);
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virtual Rect warpRoi(const Size &sz, float focal, const Mat &R);
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@ -126,7 +129,7 @@ class CV_EXPORTS PlaneWarperGpu : public PlaneWarper
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public:
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PlaneWarperGpu(float plane_dist = 1.f, float scale = 1.f) : PlaneWarper(plane_dist, scale) {}
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Point warp(const Mat &src, float focal, const Mat &R, Mat &dst,
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int interp_mode, int border_mode);
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int interp_mode, int border_mode);
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private:
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gpu::GpuMat d_xmap_, d_ymap_, d_dst_, d_src_;
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@ -39,6 +39,7 @@
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_STITCHING_WARPERS_INL_HPP__
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#define __OPENCV_STITCHING_WARPERS_INL_HPP__
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@ -50,7 +51,7 @@ namespace detail {
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template <class P>
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Point WarperBase<P>::warp(const Mat &src, float focal, const Mat &R, Mat &dst,
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int interp_mode, int border_mode)
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int interp_mode, int border_mode)
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{
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src_size_ = src.size();
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128
modules/stitching/include/opencv2/stitching/stitcher.hpp
Normal file
128
modules/stitching/include/opencv2/stitching/stitcher.hpp
Normal file
@ -0,0 +1,128 @@
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// 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.
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||||
//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
|
||||
// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
|
||||
// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
|
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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||||
// (including, but not limited to, procurement of substitute goods or services;
|
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#ifndef __OPENCV_STITCHING_STITCHER_HPP__
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#define __OPENCV_STITCHING_STITCHER_HPP__
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#include "opencv2/core/core.hpp"
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#include "opencv2/features2d/features2d.hpp"
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#include "warpers.hpp"
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#include "detail/matchers.hpp"
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#include "detail/exposure_compensate.hpp"
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#include "detail/seam_finders.hpp"
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#include "detail/blenders.hpp"
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namespace cv {
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class Stitcher
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{
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public:
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enum { ORIG_RESOL = -1 };
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enum Status { OK, ERR_NEED_MORE_IMGS };
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// Creates stitcher with default parameters
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static Stitcher createDefault(bool try_use_gpu = false);
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// Stitches the biggest found pano. Returns status code.
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Status stitch(InputArray imgs, OutputArray pano);
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double registrationResol() const { return registr_resol_; }
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void setRegistrationResol(double resol_mpx) { registr_resol_ = resol_mpx; }
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double seamEstimationResol() const { return seam_est_resol_; }
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void setSeamEstimationResol(double resol_mpx) { seam_est_resol_ = resol_mpx; }
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double compositingResol() const { return compose_resol_; }
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void setCompositingResol(double resol_mpx) { compose_resol_ = resol_mpx; }
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double panoConfidenceThresh() const { return conf_thresh_; }
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void setPanoConfidenceThresh(double conf_thresh) { conf_thresh_ = conf_thresh; }
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bool horizontalStrightening() const { return horiz_stright_; }
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void setHorizontalStrightening(bool flag) { horiz_stright_ = flag; }
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Ptr<detail::FeaturesFinder> featuresFinder() { return features_finder_; }
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const Ptr<detail::FeaturesFinder> featuresFinder() const { return features_finder_; }
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void setFeaturesFinder(Ptr<detail::FeaturesFinder> features_finder)
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{ features_finder_ = features_finder; }
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Ptr<detail::FeaturesMatcher> featuresMatcher() { return features_matcher_; }
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const Ptr<detail::FeaturesMatcher> featuresMatcher() const { return features_matcher_; }
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void setFeaturesMatcher(Ptr<detail::FeaturesMatcher> features_matcher)
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{ features_matcher_ = features_matcher; }
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Ptr<WarperCreator> warper() { return warper_; }
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const Ptr<WarperCreator> warper() const { return warper_; }
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void setWarper(Ptr<WarperCreator> warper) { warper_ = warper; }
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Ptr<detail::ExposureCompensator> exposureCompensator() { return exposure_comp_; }
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const Ptr<detail::ExposureCompensator> exposureCompensator() const { return exposure_comp_; }
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void setExposureCompenstor(Ptr<detail::ExposureCompensator> exposure_comp)
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{ exposure_comp_ = exposure_comp; }
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Ptr<detail::SeamFinder> seamFinder() { return seam_finder_; }
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const Ptr<detail::SeamFinder> seamFinder() const { return seam_finder_; }
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void setSeamFinder(Ptr<detail::SeamFinder> seam_finder) { seam_finder_ = seam_finder; }
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Ptr<detail::Blender> blender() { return blender_; }
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const Ptr<detail::Blender> blender() const { return blender_; }
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void setBlender(Ptr<detail::Blender> blender) { blender_ = blender; }
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private:
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Stitcher() {}
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double registr_resol_;
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double seam_est_resol_;
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double compose_resol_;
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double conf_thresh_;
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bool horiz_stright_;
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Ptr<detail::FeaturesFinder> features_finder_;
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Ptr<detail::FeaturesMatcher> features_matcher_;
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Ptr<WarperCreator> warper_;
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Ptr<detail::ExposureCompensator> exposure_comp_;
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Ptr<detail::SeamFinder> seam_finder_;
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Ptr<detail::Blender> blender_;
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};
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} // namespace cv
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#endif // __OPENCV_STITCHING_STITCHER_HPP__
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105
modules/stitching/include/opencv2/stitching/warpers.hpp
Normal file
105
modules/stitching/include/opencv2/stitching/warpers.hpp
Normal file
@ -0,0 +1,105 @@
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/*M///////////////////////////////////////////////////////////////////////////////////////
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//
|
||||
// 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*/
|
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#ifndef __OPENCV_STITCHING_WARPER_CREATORS_HPP__
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#define __OPENCV_STITCHING_WARPER_CREATORS_HPP__
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#include "detail/warpers.hpp"
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namespace cv {
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class WarperCreator
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{
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public:
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virtual ~WarperCreator() {}
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virtual Ptr<detail::Warper> createByFocalLength(double f) const = 0;
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};
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class PlaneWarper : public WarperCreator
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{
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public:
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Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::PlaneWarper(f); }
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};
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class CylindricalWarper: public WarperCreator
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{
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public:
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Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::CylindricalWarper(f); }
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};
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class SphericalWarper: public WarperCreator
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{
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public:
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Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::SphericalWarper(f); }
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};
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|
||||
#ifndef ANDROID
|
||||
|
||||
class PlaneWarperGpu: public WarperCreator
|
||||
{
|
||||
public:
|
||||
Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::PlaneWarperGpu(f); }
|
||||
};
|
||||
|
||||
|
||||
class CylindricalWarperGpu: public WarperCreator
|
||||
{
|
||||
public:
|
||||
Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::CylindricalWarperGpu(f); }
|
||||
};
|
||||
|
||||
|
||||
class SphericalWarperGpu: public WarperCreator
|
||||
{
|
||||
public:
|
||||
Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::SphericalWarperGpu(f); }
|
||||
};
|
||||
|
||||
#endif
|
||||
|
||||
} // namespace cv
|
||||
|
||||
#endif // __OPENCV_STITCHING_WARPER_CREATORS_HPP__
|
||||
@ -85,7 +85,7 @@ public:
|
||||
num_layers_descr_ = num_layers_descr;
|
||||
}
|
||||
|
||||
void releaseMemory();
|
||||
void collectGarbage();
|
||||
|
||||
protected:
|
||||
void find(const Mat &image, ImageFeatures &features);
|
||||
@ -136,7 +136,7 @@ void GpuSurfFeaturesFinder::find(const Mat &image, ImageFeatures &features)
|
||||
descriptors_.download(features.descriptors);
|
||||
}
|
||||
|
||||
void GpuSurfFeaturesFinder::releaseMemory()
|
||||
void GpuSurfFeaturesFinder::collectGarbage()
|
||||
{
|
||||
surf_.releaseMemory();
|
||||
image_.release();
|
||||
@ -231,7 +231,7 @@ public:
|
||||
GpuMatcher(float match_conf) : match_conf_(match_conf) {}
|
||||
void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info);
|
||||
|
||||
void releaseMemory();
|
||||
void collectGarbage();
|
||||
|
||||
private:
|
||||
float match_conf_;
|
||||
@ -326,7 +326,7 @@ void GpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &feat
|
||||
}
|
||||
}
|
||||
|
||||
void GpuMatcher::releaseMemory()
|
||||
void GpuMatcher::collectGarbage()
|
||||
{
|
||||
descriptors1_.release();
|
||||
descriptors2_.release();
|
||||
@ -369,9 +369,9 @@ void SurfFeaturesFinder::find(const Mat &image, ImageFeatures &features)
|
||||
}
|
||||
|
||||
|
||||
void SurfFeaturesFinder::releaseMemory()
|
||||
void SurfFeaturesFinder::collectGarbage()
|
||||
{
|
||||
impl_->releaseMemory();
|
||||
impl_->collectGarbage();
|
||||
}
|
||||
|
||||
|
||||
@ -511,9 +511,9 @@ void BestOf2NearestMatcher::match(const ImageFeatures &features1, const ImageFea
|
||||
matches_info.H = findHomography(src_points, dst_points, CV_RANSAC);
|
||||
}
|
||||
|
||||
void BestOf2NearestMatcher::releaseMemory()
|
||||
void BestOf2NearestMatcher::collectGarbage()
|
||||
{
|
||||
impl_->releaseMemory();
|
||||
impl_->collectGarbage();
|
||||
}
|
||||
|
||||
} // namespace detail
|
||||
|
||||
@ -39,6 +39,7 @@
|
||||
// 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__
|
||||
|
||||
@ -52,6 +53,8 @@
|
||||
#include <set>
|
||||
#include <functional>
|
||||
#include <sstream>
|
||||
#include <cmath>
|
||||
#include "opencv2/stitching/stitcher.hpp"
|
||||
#include "opencv2/stitching/detail/autocalib.hpp"
|
||||
#include "opencv2/stitching/detail/blenders.hpp"
|
||||
#include "opencv2/stitching/detail/camera.hpp"
|
||||
|
||||
352
modules/stitching/src/stitcher.cpp
Normal file
352
modules/stitching/src/stitcher.cpp
Normal file
@ -0,0 +1,352 @@
|
||||
/*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"
|
||||
|
||||
using namespace std;
|
||||
|
||||
namespace cv {
|
||||
|
||||
// TODO put all #ifndef ANDROID here, avoid passing try_use_gpu
|
||||
Stitcher Stitcher::createDefault(bool try_use_gpu)
|
||||
{
|
||||
Stitcher stitcher;
|
||||
stitcher.setRegistrationResol(0.6);
|
||||
stitcher.setSeamEstimationResol(0.1);
|
||||
stitcher.setCompositingResol(ORIG_RESOL);
|
||||
stitcher.setPanoConfidenceThresh(1);
|
||||
stitcher.setHorizontalStrightening(true);
|
||||
stitcher.setFeaturesFinder(new detail::SurfFeaturesFinder(try_use_gpu));
|
||||
stitcher.setFeaturesMatcher(new detail::BestOf2NearestMatcher(try_use_gpu));
|
||||
#ifndef ANDROID
|
||||
bool must_use_gpu = try_use_gpu && (gpu::getCudaEnabledDeviceCount() > 0);
|
||||
stitcher.setWarper(must_use_gpu ? static_cast<WarperCreator*>(new SphericalWarperGpu()) :
|
||||
static_cast<WarperCreator*>(new SphericalWarper()));
|
||||
#else
|
||||
stitcher.setWarper(new SphericalWarper());
|
||||
#endif
|
||||
stitcher.setExposureCompenstor(new detail::BlocksGainCompensator());
|
||||
stitcher.setSeamFinder(new detail::GraphCutSeamFinder());
|
||||
stitcher.setBlender(new detail::MultiBandBlender(try_use_gpu));
|
||||
return stitcher;
|
||||
}
|
||||
|
||||
|
||||
Stitcher::Status Stitcher::stitch(InputArray imgs_, OutputArray pano_)
|
||||
{
|
||||
// TODO split this func
|
||||
|
||||
vector<Mat> imgs;
|
||||
imgs_.getMatVector(imgs);
|
||||
Mat &pano = pano_.getMatRef();
|
||||
|
||||
int64 app_start_time = getTickCount();
|
||||
|
||||
int num_imgs = static_cast<int>(imgs.size());
|
||||
if (num_imgs < 2)
|
||||
{
|
||||
LOGLN("Need more images");
|
||||
return ERR_NEED_MORE_IMGS;
|
||||
}
|
||||
|
||||
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;
|
||||
|
||||
LOGLN("Finding features...");
|
||||
int64 t = getTickCount();
|
||||
|
||||
vector<detail::ImageFeatures> features(num_imgs);
|
||||
Mat full_img, img;
|
||||
vector<Mat> seam_est_imgs(num_imgs);
|
||||
vector<Size> full_img_sizes(num_imgs);
|
||||
double seam_work_aspect = 1;
|
||||
|
||||
for (int i = 0; i < num_imgs; ++i)
|
||||
{
|
||||
full_img = imgs[i];
|
||||
full_img_sizes[i] = full_img.size();
|
||||
|
||||
if (registr_resol_ < 0)
|
||||
{
|
||||
img = full_img;
|
||||
work_scale = 1;
|
||||
is_work_scale_set = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (!is_work_scale_set)
|
||||
{
|
||||
work_scale = min(1.0, sqrt(registr_resol_ * 1e6 / full_img.size().area()));
|
||||
is_work_scale_set = true;
|
||||
}
|
||||
resize(full_img, img, Size(), work_scale, work_scale);
|
||||
}
|
||||
if (!is_seam_scale_set)
|
||||
{
|
||||
seam_scale = min(1.0, sqrt(seam_est_resol_ * 1e6 / full_img.size().area()));
|
||||
seam_work_aspect = seam_scale / work_scale;
|
||||
is_seam_scale_set = true;
|
||||
}
|
||||
|
||||
(*features_finder_)(img, features[i]);
|
||||
features[i].img_idx = i;
|
||||
LOGLN("Features in image #" << i+1 << ": " << features[i].keypoints.size());
|
||||
|
||||
resize(full_img, img, Size(), seam_scale, seam_scale);
|
||||
seam_est_imgs[i] = img.clone();
|
||||
}
|
||||
|
||||
features_finder_->collectGarbage();
|
||||
full_img.release();
|
||||
img.release();
|
||||
|
||||
LOGLN("Finding features, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
||||
|
||||
LOG("Pairwise matching");
|
||||
t = getTickCount();
|
||||
vector<detail::MatchesInfo> pairwise_matches;
|
||||
(*features_matcher_)(features, pairwise_matches);
|
||||
features_matcher_->collectGarbage();
|
||||
LOGLN("Pairwise matching, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
||||
|
||||
// Leave only images we are sure are from the same panorama
|
||||
vector<int> indices = detail::leaveBiggestComponent(features, pairwise_matches, conf_thresh_);
|
||||
vector<Mat> seam_est_imgs_subset;
|
||||
vector<Mat> imgs_subset;
|
||||
vector<Size> full_img_sizes_subset;
|
||||
for (size_t i = 0; i < indices.size(); ++i)
|
||||
{
|
||||
imgs_subset.push_back(imgs[indices[i]]);
|
||||
seam_est_imgs_subset.push_back(seam_est_imgs[indices[i]]);
|
||||
full_img_sizes_subset.push_back(full_img_sizes[indices[i]]);
|
||||
}
|
||||
|
||||
seam_est_imgs = seam_est_imgs_subset;
|
||||
imgs = imgs_subset;
|
||||
full_img_sizes = full_img_sizes_subset;
|
||||
|
||||
num_imgs = static_cast<int>(imgs.size());
|
||||
if (num_imgs < 2)
|
||||
{
|
||||
LOGLN("Need more images");
|
||||
return ERR_NEED_MORE_IMGS;
|
||||
}
|
||||
|
||||
vector<detail::CameraParams> cameras;
|
||||
detail::HomographyBasedEstimator estimator;
|
||||
estimator(features, pairwise_matches, cameras);
|
||||
|
||||
for (size_t i = 0; i < cameras.size(); ++i)
|
||||
{
|
||||
Mat R;
|
||||
cameras[i].R.convertTo(R, CV_32F);
|
||||
cameras[i].R = R;
|
||||
LOGLN("Initial focal length #" << indices[i]+1 << ": " << cameras[i].focal);
|
||||
}
|
||||
|
||||
detail::BundleAdjuster adjuster(detail::BundleAdjuster::FOCAL_RAY_SPACE, conf_thresh_);
|
||||
adjuster(features, pairwise_matches, cameras);
|
||||
|
||||
// Find median focal length
|
||||
vector<double> focals;
|
||||
for (size_t i = 0; i < cameras.size(); ++i)
|
||||
{
|
||||
LOGLN("Camera #" << indices[i]+1 << " focal length: " << cameras[i].focal);
|
||||
focals.push_back(cameras[i].focal);
|
||||
}
|
||||
nth_element(focals.begin(), focals.begin() + focals.size()/2, focals.end());
|
||||
float warped_image_scale = static_cast<float>(focals[focals.size() / 2]);
|
||||
|
||||
if (horiz_stright_)
|
||||
{
|
||||
vector<Mat> rmats;
|
||||
for (size_t i = 0; i < cameras.size(); ++i)
|
||||
rmats.push_back(cameras[i].R);
|
||||
detail::waveCorrect(rmats);
|
||||
for (size_t i = 0; i < cameras.size(); ++i)
|
||||
cameras[i].R = rmats[i];
|
||||
}
|
||||
|
||||
LOGLN("Warping images (auxiliary)... ");
|
||||
t = getTickCount();
|
||||
|
||||
vector<Point> corners(num_imgs);
|
||||
vector<Mat> masks_warped(num_imgs);
|
||||
vector<Mat> images_warped(num_imgs);
|
||||
vector<Size> sizes(num_imgs);
|
||||
vector<Mat> masks(num_imgs);
|
||||
|
||||
// Preapre images masks
|
||||
for (int i = 0; i < num_imgs; ++i)
|
||||
{
|
||||
masks[i].create(seam_est_imgs[i].size(), CV_8U);
|
||||
masks[i].setTo(Scalar::all(255));
|
||||
}
|
||||
|
||||
// Warp images and their masks
|
||||
Ptr<detail::Warper> warper = warper_->createByFocalLength(warped_image_scale * seam_work_aspect);
|
||||
for (int i = 0; i < num_imgs; ++i)
|
||||
{
|
||||
corners[i] = warper->warp(seam_est_imgs[i], static_cast<float>(cameras[i].focal * seam_work_aspect),
|
||||
cameras[i].R, images_warped[i]);
|
||||
sizes[i] = images_warped[i].size();
|
||||
warper->warp(masks[i], static_cast<float>(cameras[i].focal * seam_work_aspect),
|
||||
cameras[i].R, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT);
|
||||
}
|
||||
|
||||
vector<Mat> images_warped_f(num_imgs);
|
||||
for (int i = 0; i < num_imgs; ++i)
|
||||
images_warped[i].convertTo(images_warped_f[i], CV_32F);
|
||||
|
||||
LOGLN("Warping images, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
||||
|
||||
exposure_comp_->feed(corners, images_warped, masks_warped);
|
||||
seam_finder_->find(images_warped_f, corners, masks_warped);
|
||||
|
||||
// Release unused memory
|
||||
seam_est_imgs.clear();
|
||||
images_warped.clear();
|
||||
images_warped_f.clear();
|
||||
masks.clear();
|
||||
|
||||
LOGLN("Compositing...");
|
||||
t = getTickCount();
|
||||
|
||||
Mat img_warped, img_warped_s;
|
||||
Mat dilated_mask, seam_mask, mask, mask_warped;
|
||||
double compose_seam_aspect = 1;
|
||||
double compose_work_aspect = 1;
|
||||
bool is_blender_prepared = false;
|
||||
|
||||
for (int img_idx = 0; img_idx < num_imgs; ++img_idx)
|
||||
{
|
||||
LOGLN("Compositing image #" << indices[img_idx]+1);
|
||||
|
||||
// Read image and resize it if necessary
|
||||
full_img = imgs[img_idx];
|
||||
if (!is_compose_scale_set)
|
||||
{
|
||||
if (compose_resol_ > 0)
|
||||
compose_scale = min(1.0, sqrt(compose_resol_ * 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;
|
||||
|
||||
// Update warped image scale
|
||||
warped_image_scale *= static_cast<float>(compose_work_aspect);
|
||||
warper = warper_->createByFocalLength(warped_image_scale);
|
||||
|
||||
// Update corners and sizes
|
||||
for (int i = 0; i < num_imgs; ++i)
|
||||
{
|
||||
// Update camera focal
|
||||
cameras[i].focal *= compose_work_aspect;
|
||||
|
||||
// Update corner and size
|
||||
Size sz = full_img_sizes[i];
|
||||
if (std::abs(compose_scale - 1) > 1e-1)
|
||||
{
|
||||
sz.width = cvRound(full_img_sizes[i].width * compose_scale);
|
||||
sz.height = cvRound(full_img_sizes[i].height * compose_scale);
|
||||
}
|
||||
|
||||
Rect roi = warper->warpRoi(sz, static_cast<float>(cameras[i].focal), cameras[i].R);
|
||||
corners[i] = roi.tl();
|
||||
sizes[i] = roi.size();
|
||||
}
|
||||
}
|
||||
if (std::abs(compose_scale - 1) > 1e-1)
|
||||
resize(full_img, img, Size(), compose_scale, compose_scale);
|
||||
else
|
||||
img = full_img;
|
||||
full_img.release();
|
||||
Size img_size = img.size();
|
||||
|
||||
// Warp the current image
|
||||
warper->warp(img, static_cast<float>(cameras[img_idx].focal), cameras[img_idx].R,
|
||||
img_warped);
|
||||
|
||||
// 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
|
||||
exposure_comp_->apply(img_idx, corners[img_idx], img_warped, mask_warped);
|
||||
|
||||
img_warped.convertTo(img_warped_s, CV_16S);
|
||||
img_warped.release();
|
||||
img.release();
|
||||
mask.release();
|
||||
|
||||
dilate(masks_warped[img_idx], dilated_mask, Mat());
|
||||
resize(dilated_mask, seam_mask, mask_warped.size());
|
||||
mask_warped = seam_mask & mask_warped;
|
||||
|
||||
if (!is_blender_prepared)
|
||||
{
|
||||
blender_->prepare(corners, sizes);
|
||||
is_blender_prepared = true;
|
||||
}
|
||||
|
||||
// Blend the current image
|
||||
blender_->feed(img_warped_s, mask_warped, corners[img_idx]);
|
||||
}
|
||||
|
||||
Mat result, result_mask;
|
||||
blender_->blend(result, result_mask);
|
||||
|
||||
LOGLN("Compositing, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
||||
|
||||
// Preliminary result is in CV_16SC3 format, but all values are in [0,255] range,
|
||||
// so convert it to avoid user confusing
|
||||
result.convertTo(pano, CV_8U);
|
||||
|
||||
LOGLN("Finished, total time: " << ((getTickCount() - app_start_time) / getTickFrequency()) << " sec");
|
||||
|
||||
return OK;
|
||||
}
|
||||
|
||||
} // namespace cv
|
||||
@ -39,6 +39,7 @@
|
||||
// the use of this software, even if advised of the possibility of such damage.
|
||||
//
|
||||
//M*/
|
||||
|
||||
#include "precomp.hpp"
|
||||
|
||||
using namespace std;
|
||||
|
||||
@ -48,89 +48,29 @@
|
||||
// 3) Automatic Panoramic Image Stitching using Invariant Features.
|
||||
// Matthew Brown and David G. Lowe. 2007.
|
||||
|
||||
#include <iostream>
|
||||
#include <fstream>
|
||||
#include "opencv2/highgui/highgui.hpp"
|
||||
#include "opencv2/stitching/detail/autocalib.hpp"
|
||||
#include "opencv2/stitching/detail/blenders.hpp"
|
||||
#include "opencv2/stitching/detail/camera.hpp"
|
||||
#include "opencv2/stitching/detail/exposure_compensate.hpp"
|
||||
#include "opencv2/stitching/detail/matchers.hpp"
|
||||
#include "opencv2/stitching/detail/motion_estimators.hpp"
|
||||
#include "opencv2/stitching/detail/seam_finders.hpp"
|
||||
#include "opencv2/stitching/detail/util.hpp"
|
||||
#include "opencv2/stitching/detail/warpers.hpp"
|
||||
#include "opencv2/stitching/stitcher.hpp"
|
||||
|
||||
using namespace std;
|
||||
using namespace cv;
|
||||
using namespace cv::detail;
|
||||
|
||||
void printUsage()
|
||||
{
|
||||
cout <<
|
||||
"Rotation model images stitcher.\n\n"
|
||||
"stitching img1 img2 [...imgN] [flags]\n\n"
|
||||
"stitching img1 img2 [...imgN]\n\n"
|
||||
"Flags:\n"
|
||||
" --preview\n"
|
||||
" Run stitching in the preview mode. Works faster than usual mode,\n"
|
||||
" but output image will have lower resolution.\n"
|
||||
" --try_gpu (yes|no)\n"
|
||||
" --try_use_gpu (yes|no)\n"
|
||||
" Try to use GPU. The default value is 'no'. All default values\n"
|
||||
" are for CPU mode.\n"
|
||||
"\nMotion Estimation Flags:\n"
|
||||
" --work_megapix <float>\n"
|
||||
" Resolution for image registration step. The default is 0.6 Mpx.\n"
|
||||
" --match_conf <float>\n"
|
||||
" Confidence for feature matching step. The default is 0.65.\n"
|
||||
" --conf_thresh <float>\n"
|
||||
" Threshold for two images are from the same panorama confidence.\n"
|
||||
" The default is 1.0.\n"
|
||||
" --ba (no|ray|focal_ray)\n"
|
||||
" Bundle adjustment cost function. The default is 'focal_ray'.\n"
|
||||
" --wave_correct (no|yes)\n"
|
||||
" Perform wave effect correction. The default is 'yes'.\n"
|
||||
" --save_graph <file_name>\n"
|
||||
" Save matches graph represented in DOT language to <file_name> file.\n"
|
||||
" Labels description: Nm is number of matches, Ni is number of inliers,\n"
|
||||
" C is confidence.\n"
|
||||
"\nCompositing Flags:\n"
|
||||
" --warp (plane|cylindrical|spherical)\n"
|
||||
" Warp surface type. The default is 'spherical'.\n"
|
||||
" --seam_megapix <float>\n"
|
||||
" Resolution for seam estimation step. The default is 0.1 Mpx.\n"
|
||||
" --seam (no|voronoi|gc_color|gc_colorgrad)\n"
|
||||
" Seam estimation method. The default is 'gc_color'.\n"
|
||||
" --compose_megapix <float>\n"
|
||||
" Resolution for compositing step. Use -1 for original resolution.\n"
|
||||
" The default is -1.\n"
|
||||
" --expos_comp (no|gain|gain_blocks)\n"
|
||||
" Exposure compensation method. The default is 'gain_blocks'.\n"
|
||||
" --blend (no|feather|multiband)\n"
|
||||
" Blending method. The default is 'multiband'.\n"
|
||||
" --blend_strength <float>\n"
|
||||
" Blending strength from [0,100] range. The default is 5.\n"
|
||||
" --output <result_img>\n"
|
||||
" The default is 'result.jpg'.\n";
|
||||
}
|
||||
|
||||
|
||||
// Default command line args
|
||||
vector<string> img_names;
|
||||
bool preview = false;
|
||||
bool try_gpu = false;
|
||||
double work_megapix = 0.6;
|
||||
double seam_megapix = 0.1;
|
||||
double compose_megapix = -1;
|
||||
int ba_space = BundleAdjuster::FOCAL_RAY_SPACE;
|
||||
float conf_thresh = 1.f;
|
||||
bool wave_correct = true;
|
||||
bool save_graph = false;
|
||||
std::string save_graph_to;
|
||||
int warp_type = Warper::SPHERICAL;
|
||||
int expos_comp_type = ExposureCompensator::GAIN_BLOCKS;
|
||||
float match_conf = 0.65f;
|
||||
int seam_find_type = SeamFinder::GC_COLOR;
|
||||
int blend_type = Blender::MULTI_BAND;
|
||||
float blend_strength = 5;
|
||||
bool try_use_gpu = false;
|
||||
vector<Mat> imgs;
|
||||
string result_name = "result.jpg";
|
||||
|
||||
int parseCmdArgs(int argc, char** argv)
|
||||
@ -147,165 +87,34 @@ int parseCmdArgs(int argc, char** argv)
|
||||
printUsage();
|
||||
return -1;
|
||||
}
|
||||
else if (string(argv[i]) == "--preview")
|
||||
{
|
||||
preview = true;
|
||||
}
|
||||
else if (string(argv[i]) == "--try_gpu")
|
||||
{
|
||||
if (string(argv[i + 1]) == "no")
|
||||
try_gpu = false;
|
||||
try_use_gpu = false;
|
||||
else if (string(argv[i + 1]) == "yes")
|
||||
try_gpu = true;
|
||||
try_use_gpu = true;
|
||||
else
|
||||
{
|
||||
cout << "Bad --try_gpu flag value\n";
|
||||
cout << "Bad --try_use_gpu flag value\n";
|
||||
return -1;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--work_megapix")
|
||||
{
|
||||
work_megapix = atof(argv[i + 1]);
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--seam_megapix")
|
||||
{
|
||||
seam_megapix = atof(argv[i + 1]);
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--compose_megapix")
|
||||
{
|
||||
compose_megapix = atof(argv[i + 1]);
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--result")
|
||||
{
|
||||
result_name = argv[i + 1];
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--match_conf")
|
||||
{
|
||||
match_conf = static_cast<float>(atof(argv[i + 1]));
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--ba")
|
||||
{
|
||||
if (string(argv[i + 1]) == "no")
|
||||
ba_space = BundleAdjuster::NO;
|
||||
else if (string(argv[i + 1]) == "ray")
|
||||
ba_space = BundleAdjuster::RAY_SPACE;
|
||||
else if (string(argv[i + 1]) == "focal_ray")
|
||||
ba_space = BundleAdjuster::FOCAL_RAY_SPACE;
|
||||
else
|
||||
{
|
||||
cout << "Bad bundle adjustment space\n";
|
||||
return -1;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--conf_thresh")
|
||||
{
|
||||
conf_thresh = static_cast<float>(atof(argv[i + 1]));
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--wave_correct")
|
||||
{
|
||||
if (string(argv[i + 1]) == "no")
|
||||
wave_correct = false;
|
||||
else if (string(argv[i + 1]) == "yes")
|
||||
wave_correct = true;
|
||||
else
|
||||
{
|
||||
cout << "Bad --wave_correct flag value\n";
|
||||
return -1;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--save_graph")
|
||||
{
|
||||
save_graph = true;
|
||||
save_graph_to = argv[i + 1];
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--warp")
|
||||
{
|
||||
if (string(argv[i + 1]) == "plane")
|
||||
warp_type = Warper::PLANE;
|
||||
else if (string(argv[i + 1]) == "cylindrical")
|
||||
warp_type = Warper::CYLINDRICAL;
|
||||
else if (string(argv[i + 1]) == "spherical")
|
||||
warp_type = Warper::SPHERICAL;
|
||||
else
|
||||
{
|
||||
cout << "Bad warping method\n";
|
||||
return -1;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--expos_comp")
|
||||
{
|
||||
if (string(argv[i + 1]) == "no")
|
||||
expos_comp_type = ExposureCompensator::NO;
|
||||
else if (string(argv[i + 1]) == "gain")
|
||||
expos_comp_type = ExposureCompensator::GAIN;
|
||||
else if (string(argv[i + 1]) == "gain_blocks")
|
||||
expos_comp_type = ExposureCompensator::GAIN_BLOCKS;
|
||||
else
|
||||
{
|
||||
cout << "Bad exposure compensation method\n";
|
||||
return -1;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--seam")
|
||||
{
|
||||
if (string(argv[i + 1]) == "no")
|
||||
seam_find_type = SeamFinder::NO;
|
||||
else if (string(argv[i + 1]) == "voronoi")
|
||||
seam_find_type = SeamFinder::VORONOI;
|
||||
else if (string(argv[i + 1]) == "gc_color")
|
||||
seam_find_type = SeamFinder::GC_COLOR;
|
||||
else if (string(argv[i + 1]) == "gc_colorgrad")
|
||||
seam_find_type = SeamFinder::GC_COLOR_GRAD;
|
||||
else
|
||||
{
|
||||
cout << "Bad seam finding method\n";
|
||||
return -1;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--blend")
|
||||
{
|
||||
if (string(argv[i + 1]) == "no")
|
||||
blend_type = Blender::NO;
|
||||
else if (string(argv[i + 1]) == "feather")
|
||||
blend_type = Blender::FEATHER;
|
||||
else if (string(argv[i + 1]) == "multiband")
|
||||
blend_type = Blender::MULTI_BAND;
|
||||
else
|
||||
{
|
||||
cout << "Bad blending method\n";
|
||||
return -1;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--blend_strength")
|
||||
{
|
||||
blend_strength = static_cast<float>(atof(argv[i + 1]));
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--output")
|
||||
{
|
||||
result_name = argv[i + 1];
|
||||
i++;
|
||||
}
|
||||
else
|
||||
img_names.push_back(argv[i]);
|
||||
}
|
||||
if (preview)
|
||||
{
|
||||
compose_megapix = 0.6;
|
||||
{
|
||||
Mat img = imread(argv[i]);
|
||||
if (img.empty())
|
||||
{
|
||||
cout << "Can't read image '" << argv[i] << "'\n";
|
||||
return -1;
|
||||
}
|
||||
imgs.push_back(img);
|
||||
}
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
@ -313,314 +122,20 @@ int parseCmdArgs(int argc, char** argv)
|
||||
|
||||
int main(int argc, char* argv[])
|
||||
{
|
||||
int64 app_start_time = getTickCount();
|
||||
cv::setBreakOnError(true);
|
||||
|
||||
int retval = parseCmdArgs(argc, argv);
|
||||
if (retval)
|
||||
return retval;
|
||||
if (retval) return -1;
|
||||
|
||||
// Check if have enough images
|
||||
int num_images = static_cast<int>(img_names.size());
|
||||
if (num_images < 2)
|
||||
Mat pano;
|
||||
Stitcher stitcher = Stitcher::createDefault(try_use_gpu);
|
||||
Stitcher::Status status = stitcher.stitch(imgs, pano);
|
||||
|
||||
if (status != Stitcher::OK)
|
||||
{
|
||||
LOGLN("Need more images");
|
||||
cout << "Can't stitch images, error code = " << status << endl;
|
||||
return -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;
|
||||
|
||||
LOGLN("Finding features...");
|
||||
int64 t = getTickCount();
|
||||
|
||||
vector<ImageFeatures> features(num_images);
|
||||
SurfFeaturesFinder finder(try_gpu);
|
||||
Mat full_img, img;
|
||||
|
||||
vector<Mat> images(num_images);
|
||||
vector<Size> full_img_sizes(num_images);
|
||||
double seam_work_aspect = 1;
|
||||
|
||||
for (int i = 0; i < num_images; ++i)
|
||||
{
|
||||
full_img = imread(img_names[i]);
|
||||
full_img_sizes[i] = full_img.size();
|
||||
|
||||
if (full_img.empty())
|
||||
{
|
||||
LOGLN("Can't open image " << img_names[i]);
|
||||
return -1;
|
||||
}
|
||||
if (work_megapix < 0)
|
||||
{
|
||||
img = full_img;
|
||||
work_scale = 1;
|
||||
is_work_scale_set = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (!is_work_scale_set)
|
||||
{
|
||||
work_scale = min(1.0, sqrt(work_megapix * 1e6 / full_img.size().area()));
|
||||
is_work_scale_set = true;
|
||||
}
|
||||
resize(full_img, img, Size(), work_scale, work_scale);
|
||||
}
|
||||
if (!is_seam_scale_set)
|
||||
{
|
||||
seam_scale = min(1.0, sqrt(seam_megapix * 1e6 / full_img.size().area()));
|
||||
seam_work_aspect = seam_scale / work_scale;
|
||||
is_seam_scale_set = true;
|
||||
}
|
||||
|
||||
finder(img, features[i]);
|
||||
features[i].img_idx = i;
|
||||
LOGLN("Features in image #" << i+1 << ": " << features[i].keypoints.size());
|
||||
|
||||
resize(full_img, img, Size(), seam_scale, seam_scale);
|
||||
images[i] = img.clone();
|
||||
}
|
||||
|
||||
finder.releaseMemory();
|
||||
|
||||
full_img.release();
|
||||
img.release();
|
||||
|
||||
LOGLN("Finding features, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
||||
|
||||
LOG("Pairwise matching");
|
||||
t = getTickCount();
|
||||
vector<MatchesInfo> pairwise_matches;
|
||||
BestOf2NearestMatcher matcher(try_gpu, match_conf);
|
||||
matcher(features, pairwise_matches);
|
||||
matcher.releaseMemory();
|
||||
LOGLN("Pairwise matching, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
||||
|
||||
// Check if we should save matches graph
|
||||
if (save_graph)
|
||||
{
|
||||
LOGLN("Saving matches graph...");
|
||||
ofstream f(save_graph_to.c_str());
|
||||
f << matchesGraphAsString(img_names, pairwise_matches, conf_thresh);
|
||||
}
|
||||
|
||||
// Leave only images we are sure are from the same panorama
|
||||
vector<int> indices = leaveBiggestComponent(features, pairwise_matches, conf_thresh);
|
||||
vector<Mat> img_subset;
|
||||
vector<string> img_names_subset;
|
||||
vector<Size> full_img_sizes_subset;
|
||||
for (size_t i = 0; i < indices.size(); ++i)
|
||||
{
|
||||
img_names_subset.push_back(img_names[indices[i]]);
|
||||
img_subset.push_back(images[indices[i]]);
|
||||
full_img_sizes_subset.push_back(full_img_sizes[indices[i]]);
|
||||
}
|
||||
|
||||
images = img_subset;
|
||||
img_names = img_names_subset;
|
||||
full_img_sizes = full_img_sizes_subset;
|
||||
|
||||
// Check if we still have enough images
|
||||
num_images = static_cast<int>(img_names.size());
|
||||
if (num_images < 2)
|
||||
{
|
||||
LOGLN("Need more images");
|
||||
return -1;
|
||||
}
|
||||
|
||||
HomographyBasedEstimator estimator;
|
||||
vector<CameraParams> cameras;
|
||||
estimator(features, pairwise_matches, cameras);
|
||||
|
||||
for (size_t i = 0; i < cameras.size(); ++i)
|
||||
{
|
||||
Mat R;
|
||||
cameras[i].R.convertTo(R, CV_32F);
|
||||
cameras[i].R = R;
|
||||
LOGLN("Initial focal length #" << indices[i]+1 << ": " << cameras[i].focal);
|
||||
}
|
||||
|
||||
BundleAdjuster adjuster(ba_space, conf_thresh);
|
||||
adjuster(features, pairwise_matches, cameras);
|
||||
|
||||
// Find median focal length
|
||||
vector<double> focals;
|
||||
for (size_t i = 0; i < cameras.size(); ++i)
|
||||
{
|
||||
LOGLN("Camera #" << indices[i]+1 << " focal length: " << cameras[i].focal);
|
||||
focals.push_back(cameras[i].focal);
|
||||
}
|
||||
nth_element(focals.begin(), focals.begin() + focals.size()/2, focals.end());
|
||||
float warped_image_scale = static_cast<float>(focals[focals.size() / 2]);
|
||||
|
||||
if (wave_correct)
|
||||
{
|
||||
vector<Mat> rmats;
|
||||
for (size_t i = 0; i < cameras.size(); ++i)
|
||||
rmats.push_back(cameras[i].R);
|
||||
waveCorrect(rmats);
|
||||
for (size_t i = 0; i < cameras.size(); ++i)
|
||||
cameras[i].R = rmats[i];
|
||||
}
|
||||
|
||||
LOGLN("Warping images (auxiliary)... ");
|
||||
t = getTickCount();
|
||||
|
||||
vector<Point> corners(num_images);
|
||||
vector<Mat> masks_warped(num_images);
|
||||
vector<Mat> images_warped(num_images);
|
||||
vector<Size> sizes(num_images);
|
||||
vector<Mat> masks(num_images);
|
||||
|
||||
// Preapre images masks
|
||||
for (int i = 0; i < num_images; ++i)
|
||||
{
|
||||
masks[i].create(images[i].size(), CV_8U);
|
||||
masks[i].setTo(Scalar::all(255));
|
||||
}
|
||||
|
||||
// Warp images and their masks
|
||||
Ptr<Warper> warper = Warper::createByCameraFocal(static_cast<float>(warped_image_scale * seam_work_aspect),
|
||||
warp_type, try_gpu);
|
||||
for (int i = 0; i < num_images; ++i)
|
||||
{
|
||||
corners[i] = warper->warp(images[i], static_cast<float>(cameras[i].focal * seam_work_aspect),
|
||||
cameras[i].R, images_warped[i]);
|
||||
sizes[i] = images_warped[i].size();
|
||||
warper->warp(masks[i], static_cast<float>(cameras[i].focal * seam_work_aspect),
|
||||
cameras[i].R, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT);
|
||||
}
|
||||
|
||||
vector<Mat> images_warped_f(num_images);
|
||||
for (int i = 0; i < num_images; ++i)
|
||||
images_warped[i].convertTo(images_warped_f[i], CV_32F);
|
||||
|
||||
LOGLN("Warping images, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
||||
|
||||
Ptr<ExposureCompensator> compensator = ExposureCompensator::createDefault(expos_comp_type);
|
||||
compensator->feed(corners, images_warped, masks_warped);
|
||||
|
||||
Ptr<SeamFinder> seam_finder = SeamFinder::createDefault(seam_find_type);
|
||||
seam_finder->find(images_warped_f, corners, masks_warped);
|
||||
|
||||
// Release unused memory
|
||||
images.clear();
|
||||
images_warped.clear();
|
||||
images_warped_f.clear();
|
||||
masks.clear();
|
||||
|
||||
LOGLN("Compositing...");
|
||||
t = getTickCount();
|
||||
|
||||
Mat img_warped, img_warped_s;
|
||||
Mat dilated_mask, seam_mask, mask, mask_warped;
|
||||
Ptr<Blender> blender;
|
||||
double compose_seam_aspect = 1;
|
||||
double compose_work_aspect = 1;
|
||||
|
||||
for (int img_idx = 0; img_idx < num_images; ++img_idx)
|
||||
{
|
||||
LOGLN("Compositing image #" << indices[img_idx]+1);
|
||||
|
||||
// Read image and resize it if necessary
|
||||
full_img = imread(img_names[img_idx]);
|
||||
if (!is_compose_scale_set)
|
||||
{
|
||||
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;
|
||||
|
||||
// Update warped image scale
|
||||
warped_image_scale *= static_cast<float>(compose_work_aspect);
|
||||
warper = Warper::createByCameraFocal(warped_image_scale, warp_type, try_gpu);
|
||||
|
||||
// Update corners and sizes
|
||||
for (int i = 0; i < num_images; ++i)
|
||||
{
|
||||
// Update camera focal
|
||||
cameras[i].focal *= compose_work_aspect;
|
||||
|
||||
// Update corner and size
|
||||
Size sz = full_img_sizes[i];
|
||||
if (abs(compose_scale - 1) > 1e-1)
|
||||
{
|
||||
sz.width = cvRound(full_img_sizes[i].width * compose_scale);
|
||||
sz.height = cvRound(full_img_sizes[i].height * compose_scale);
|
||||
}
|
||||
|
||||
Rect roi = warper->warpRoi(sz, static_cast<float>(cameras[i].focal), cameras[i].R);
|
||||
corners[i] = roi.tl();
|
||||
sizes[i] = roi.size();
|
||||
}
|
||||
}
|
||||
if (abs(compose_scale - 1) > 1e-1)
|
||||
resize(full_img, img, Size(), compose_scale, compose_scale);
|
||||
else
|
||||
img = full_img;
|
||||
full_img.release();
|
||||
Size img_size = img.size();
|
||||
|
||||
// Warp the current image
|
||||
warper->warp(img, static_cast<float>(cameras[img_idx].focal), cameras[img_idx].R,
|
||||
img_warped);
|
||||
|
||||
// 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, corners[img_idx], img_warped, mask_warped);
|
||||
|
||||
img_warped.convertTo(img_warped_s, CV_16S);
|
||||
img_warped.release();
|
||||
img.release();
|
||||
mask.release();
|
||||
|
||||
dilate(masks_warped[img_idx], dilated_mask, Mat());
|
||||
resize(dilated_mask, seam_mask, mask_warped.size());
|
||||
mask_warped = seam_mask & mask_warped;
|
||||
|
||||
if (blender.empty())
|
||||
{
|
||||
blender = Blender::createDefault(blend_type, try_gpu);
|
||||
Size dst_sz = resultRoi(corners, sizes).size();
|
||||
float blend_width = sqrt(static_cast<float>(dst_sz.area())) * blend_strength / 100.f;
|
||||
if (blend_width < 1.f)
|
||||
blender = Blender::createDefault(Blender::NO, try_gpu);
|
||||
else if (blend_type == Blender::MULTI_BAND)
|
||||
{
|
||||
MultiBandBlender* mb = dynamic_cast<MultiBandBlender*>(static_cast<Blender*>(blender));
|
||||
mb->setNumBands(static_cast<int>(ceil(log(blend_width)/log(2.)) - 1.));
|
||||
LOGLN("Multi-band blender, number of bands: " << mb->numBands());
|
||||
}
|
||||
else if (blend_type == Blender::FEATHER)
|
||||
{
|
||||
FeatherBlender* fb = dynamic_cast<FeatherBlender*>(static_cast<Blender*>(blender));
|
||||
fb->setSharpness(1.f/blend_width);
|
||||
LOGLN("Feather blender, sharpness: " << fb->sharpness());
|
||||
}
|
||||
blender->prepare(corners, sizes);
|
||||
}
|
||||
|
||||
// Blend the current image
|
||||
blender->feed(img_warped_s, mask_warped, corners[img_idx]);
|
||||
}
|
||||
|
||||
Mat result, result_mask;
|
||||
blender->blend(result, result_mask);
|
||||
|
||||
LOGLN("Compositing, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
||||
|
||||
imwrite(result_name, result);
|
||||
|
||||
LOGLN("Finished, total time: " << ((getTickCount() - app_start_time) / getTickFrequency()) << " sec");
|
||||
imwrite(result_name, pano);
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
627
samples/cpp/stitching_detailed.cpp
Normal file
627
samples/cpp/stitching_detailed.cpp
Normal file
@ -0,0 +1,627 @@
|
||||
/*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*/
|
||||
|
||||
// We follow to these papers:
|
||||
// 1) Construction of panoramic mosaics with global and local alignment.
|
||||
// Heung-Yeung Shum and Richard Szeliski. 2000.
|
||||
// 2) Eliminating Ghosting and Exposure Artifacts in Image Mosaics.
|
||||
// Matthew Uyttendaele, Ashley Eden and Richard Szeliski. 2001.
|
||||
// 3) Automatic Panoramic Image Stitching using Invariant Features.
|
||||
// Matthew Brown and David G. Lowe. 2007.
|
||||
|
||||
#include <fstream>
|
||||
#include "opencv2/highgui/highgui.hpp"
|
||||
#include "opencv2/stitching/detail/autocalib.hpp"
|
||||
#include "opencv2/stitching/detail/blenders.hpp"
|
||||
#include "opencv2/stitching/detail/camera.hpp"
|
||||
#include "opencv2/stitching/detail/exposure_compensate.hpp"
|
||||
#include "opencv2/stitching/detail/matchers.hpp"
|
||||
#include "opencv2/stitching/detail/motion_estimators.hpp"
|
||||
#include "opencv2/stitching/detail/seam_finders.hpp"
|
||||
#include "opencv2/stitching/detail/util.hpp"
|
||||
#include "opencv2/stitching/detail/warpers.hpp"
|
||||
|
||||
using namespace std;
|
||||
using namespace cv;
|
||||
using namespace cv::detail;
|
||||
|
||||
void printUsage()
|
||||
{
|
||||
cout <<
|
||||
"Rotation model images stitcher.\n\n"
|
||||
"stitching_detailed img1 img2 [...imgN] [flags]\n\n"
|
||||
"Flags:\n"
|
||||
" --preview\n"
|
||||
" Run stitching in the preview mode. Works faster than usual mode,\n"
|
||||
" but output image will have lower resolution.\n"
|
||||
" --try_gpu (yes|no)\n"
|
||||
" Try to use GPU. The default value is 'no'. All default values\n"
|
||||
" are for CPU mode.\n"
|
||||
"\nMotion Estimation Flags:\n"
|
||||
" --work_megapix <float>\n"
|
||||
" Resolution for image registration step. The default is 0.6 Mpx.\n"
|
||||
" --match_conf <float>\n"
|
||||
" Confidence for feature matching step. The default is 0.65.\n"
|
||||
" --conf_thresh <float>\n"
|
||||
" Threshold for two images are from the same panorama confidence.\n"
|
||||
" The default is 1.0.\n"
|
||||
" --ba (no|ray|focal_ray)\n"
|
||||
" Bundle adjustment cost function. The default is 'focal_ray'.\n"
|
||||
" --wave_correct (no|yes)\n"
|
||||
" Perform wave effect correction. The default is 'yes'.\n"
|
||||
" --save_graph <file_name>\n"
|
||||
" Save matches graph represented in DOT language to <file_name> file.\n"
|
||||
" Labels description: Nm is number of matches, Ni is number of inliers,\n"
|
||||
" C is confidence.\n"
|
||||
"\nCompositing Flags:\n"
|
||||
" --warp (plane|cylindrical|spherical)\n"
|
||||
" Warp surface type. The default is 'spherical'.\n"
|
||||
" --seam_megapix <float>\n"
|
||||
" Resolution for seam estimation step. The default is 0.1 Mpx.\n"
|
||||
" --seam (no|voronoi|gc_color|gc_colorgrad)\n"
|
||||
" Seam estimation method. The default is 'gc_color'.\n"
|
||||
" --compose_megapix <float>\n"
|
||||
" Resolution for compositing step. Use -1 for original resolution.\n"
|
||||
" The default is -1.\n"
|
||||
" --expos_comp (no|gain|gain_blocks)\n"
|
||||
" Exposure compensation method. The default is 'gain_blocks'.\n"
|
||||
" --blend (no|feather|multiband)\n"
|
||||
" Blending method. The default is 'multiband'.\n"
|
||||
" --blend_strength <float>\n"
|
||||
" Blending strength from [0,100] range. The default is 5.\n"
|
||||
" --output <result_img>\n"
|
||||
" The default is 'result.jpg'.\n";
|
||||
}
|
||||
|
||||
|
||||
// Default command line args
|
||||
vector<string> img_names;
|
||||
bool preview = false;
|
||||
bool try_gpu = false;
|
||||
double work_megapix = 0.6;
|
||||
double seam_megapix = 0.1;
|
||||
double compose_megapix = -1;
|
||||
int ba_space = BundleAdjuster::FOCAL_RAY_SPACE;
|
||||
float conf_thresh = 1.f;
|
||||
bool wave_correct = true;
|
||||
bool save_graph = false;
|
||||
std::string save_graph_to;
|
||||
int warp_type = Warper::SPHERICAL;
|
||||
int expos_comp_type = ExposureCompensator::GAIN_BLOCKS;
|
||||
float match_conf = 0.65f;
|
||||
int seam_find_type = SeamFinder::GC_COLOR;
|
||||
int blend_type = Blender::MULTI_BAND;
|
||||
float blend_strength = 5;
|
||||
string result_name = "result.jpg";
|
||||
|
||||
int parseCmdArgs(int argc, char** argv)
|
||||
{
|
||||
if (argc == 1)
|
||||
{
|
||||
printUsage();
|
||||
return -1;
|
||||
}
|
||||
for (int i = 1; i < argc; ++i)
|
||||
{
|
||||
if (string(argv[i]) == "--help" || string(argv[i]) == "/?")
|
||||
{
|
||||
printUsage();
|
||||
return -1;
|
||||
}
|
||||
else if (string(argv[i]) == "--preview")
|
||||
{
|
||||
preview = true;
|
||||
}
|
||||
else if (string(argv[i]) == "--try_gpu")
|
||||
{
|
||||
if (string(argv[i + 1]) == "no")
|
||||
try_gpu = false;
|
||||
else if (string(argv[i + 1]) == "yes")
|
||||
try_gpu = true;
|
||||
else
|
||||
{
|
||||
cout << "Bad --try_gpu flag value\n";
|
||||
return -1;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--work_megapix")
|
||||
{
|
||||
work_megapix = atof(argv[i + 1]);
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--seam_megapix")
|
||||
{
|
||||
seam_megapix = atof(argv[i + 1]);
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--compose_megapix")
|
||||
{
|
||||
compose_megapix = atof(argv[i + 1]);
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--result")
|
||||
{
|
||||
result_name = argv[i + 1];
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--match_conf")
|
||||
{
|
||||
match_conf = static_cast<float>(atof(argv[i + 1]));
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--ba")
|
||||
{
|
||||
if (string(argv[i + 1]) == "no")
|
||||
ba_space = BundleAdjuster::NO;
|
||||
else if (string(argv[i + 1]) == "ray")
|
||||
ba_space = BundleAdjuster::RAY_SPACE;
|
||||
else if (string(argv[i + 1]) == "focal_ray")
|
||||
ba_space = BundleAdjuster::FOCAL_RAY_SPACE;
|
||||
else
|
||||
{
|
||||
cout << "Bad bundle adjustment space\n";
|
||||
return -1;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--conf_thresh")
|
||||
{
|
||||
conf_thresh = static_cast<float>(atof(argv[i + 1]));
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--wave_correct")
|
||||
{
|
||||
if (string(argv[i + 1]) == "no")
|
||||
wave_correct = false;
|
||||
else if (string(argv[i + 1]) == "yes")
|
||||
wave_correct = true;
|
||||
else
|
||||
{
|
||||
cout << "Bad --wave_correct flag value\n";
|
||||
return -1;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--save_graph")
|
||||
{
|
||||
save_graph = true;
|
||||
save_graph_to = argv[i + 1];
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--warp")
|
||||
{
|
||||
if (string(argv[i + 1]) == "plane")
|
||||
warp_type = Warper::PLANE;
|
||||
else if (string(argv[i + 1]) == "cylindrical")
|
||||
warp_type = Warper::CYLINDRICAL;
|
||||
else if (string(argv[i + 1]) == "spherical")
|
||||
warp_type = Warper::SPHERICAL;
|
||||
else
|
||||
{
|
||||
cout << "Bad warping method\n";
|
||||
return -1;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--expos_comp")
|
||||
{
|
||||
if (string(argv[i + 1]) == "no")
|
||||
expos_comp_type = ExposureCompensator::NO;
|
||||
else if (string(argv[i + 1]) == "gain")
|
||||
expos_comp_type = ExposureCompensator::GAIN;
|
||||
else if (string(argv[i + 1]) == "gain_blocks")
|
||||
expos_comp_type = ExposureCompensator::GAIN_BLOCKS;
|
||||
else
|
||||
{
|
||||
cout << "Bad exposure compensation method\n";
|
||||
return -1;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--seam")
|
||||
{
|
||||
if (string(argv[i + 1]) == "no")
|
||||
seam_find_type = SeamFinder::NO;
|
||||
else if (string(argv[i + 1]) == "voronoi")
|
||||
seam_find_type = SeamFinder::VORONOI;
|
||||
else if (string(argv[i + 1]) == "gc_color")
|
||||
seam_find_type = SeamFinder::GC_COLOR;
|
||||
else if (string(argv[i + 1]) == "gc_colorgrad")
|
||||
seam_find_type = SeamFinder::GC_COLOR_GRAD;
|
||||
else
|
||||
{
|
||||
cout << "Bad seam finding method\n";
|
||||
return -1;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--blend")
|
||||
{
|
||||
if (string(argv[i + 1]) == "no")
|
||||
blend_type = Blender::NO;
|
||||
else if (string(argv[i + 1]) == "feather")
|
||||
blend_type = Blender::FEATHER;
|
||||
else if (string(argv[i + 1]) == "multiband")
|
||||
blend_type = Blender::MULTI_BAND;
|
||||
else
|
||||
{
|
||||
cout << "Bad blending method\n";
|
||||
return -1;
|
||||
}
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--blend_strength")
|
||||
{
|
||||
blend_strength = static_cast<float>(atof(argv[i + 1]));
|
||||
i++;
|
||||
}
|
||||
else if (string(argv[i]) == "--output")
|
||||
{
|
||||
result_name = argv[i + 1];
|
||||
i++;
|
||||
}
|
||||
else
|
||||
img_names.push_back(argv[i]);
|
||||
}
|
||||
if (preview)
|
||||
{
|
||||
compose_megapix = 0.6;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
int main(int argc, char* argv[])
|
||||
{
|
||||
int64 app_start_time = getTickCount();
|
||||
cv::setBreakOnError(true);
|
||||
|
||||
int retval = parseCmdArgs(argc, argv);
|
||||
if (retval)
|
||||
return retval;
|
||||
|
||||
// Check if have enough images
|
||||
int num_images = static_cast<int>(img_names.size());
|
||||
if (num_images < 2)
|
||||
{
|
||||
LOGLN("Need more images");
|
||||
return -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;
|
||||
|
||||
LOGLN("Finding features...");
|
||||
int64 t = getTickCount();
|
||||
|
||||
vector<ImageFeatures> features(num_images);
|
||||
SurfFeaturesFinder finder(try_gpu);
|
||||
Mat full_img, img;
|
||||
|
||||
vector<Mat> images(num_images);
|
||||
vector<Size> full_img_sizes(num_images);
|
||||
double seam_work_aspect = 1;
|
||||
|
||||
for (int i = 0; i < num_images; ++i)
|
||||
{
|
||||
full_img = imread(img_names[i]);
|
||||
full_img_sizes[i] = full_img.size();
|
||||
|
||||
if (full_img.empty())
|
||||
{
|
||||
LOGLN("Can't open image " << img_names[i]);
|
||||
return -1;
|
||||
}
|
||||
if (work_megapix < 0)
|
||||
{
|
||||
img = full_img;
|
||||
work_scale = 1;
|
||||
is_work_scale_set = true;
|
||||
}
|
||||
else
|
||||
{
|
||||
if (!is_work_scale_set)
|
||||
{
|
||||
work_scale = min(1.0, sqrt(work_megapix * 1e6 / full_img.size().area()));
|
||||
is_work_scale_set = true;
|
||||
}
|
||||
resize(full_img, img, Size(), work_scale, work_scale);
|
||||
}
|
||||
if (!is_seam_scale_set)
|
||||
{
|
||||
seam_scale = min(1.0, sqrt(seam_megapix * 1e6 / full_img.size().area()));
|
||||
seam_work_aspect = seam_scale / work_scale;
|
||||
is_seam_scale_set = true;
|
||||
}
|
||||
|
||||
finder(img, features[i]);
|
||||
features[i].img_idx = i;
|
||||
LOGLN("Features in image #" << i+1 << ": " << features[i].keypoints.size());
|
||||
|
||||
resize(full_img, img, Size(), seam_scale, seam_scale);
|
||||
images[i] = img.clone();
|
||||
}
|
||||
|
||||
finder.collectGarbage();
|
||||
|
||||
full_img.release();
|
||||
img.release();
|
||||
|
||||
LOGLN("Finding features, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
||||
|
||||
LOG("Pairwise matching");
|
||||
t = getTickCount();
|
||||
vector<MatchesInfo> pairwise_matches;
|
||||
BestOf2NearestMatcher matcher(try_gpu, match_conf);
|
||||
matcher(features, pairwise_matches);
|
||||
matcher.collectGarbage();
|
||||
LOGLN("Pairwise matching, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
||||
|
||||
// Check if we should save matches graph
|
||||
if (save_graph)
|
||||
{
|
||||
LOGLN("Saving matches graph...");
|
||||
ofstream f(save_graph_to.c_str());
|
||||
f << matchesGraphAsString(img_names, pairwise_matches, conf_thresh);
|
||||
}
|
||||
|
||||
// Leave only images we are sure are from the same panorama
|
||||
vector<int> indices = leaveBiggestComponent(features, pairwise_matches, conf_thresh);
|
||||
vector<Mat> img_subset;
|
||||
vector<string> img_names_subset;
|
||||
vector<Size> full_img_sizes_subset;
|
||||
for (size_t i = 0; i < indices.size(); ++i)
|
||||
{
|
||||
img_names_subset.push_back(img_names[indices[i]]);
|
||||
img_subset.push_back(images[indices[i]]);
|
||||
full_img_sizes_subset.push_back(full_img_sizes[indices[i]]);
|
||||
}
|
||||
|
||||
images = img_subset;
|
||||
img_names = img_names_subset;
|
||||
full_img_sizes = full_img_sizes_subset;
|
||||
|
||||
// Check if we still have enough images
|
||||
num_images = static_cast<int>(img_names.size());
|
||||
if (num_images < 2)
|
||||
{
|
||||
LOGLN("Need more images");
|
||||
return -1;
|
||||
}
|
||||
|
||||
HomographyBasedEstimator estimator;
|
||||
vector<CameraParams> cameras;
|
||||
estimator(features, pairwise_matches, cameras);
|
||||
|
||||
for (size_t i = 0; i < cameras.size(); ++i)
|
||||
{
|
||||
Mat R;
|
||||
cameras[i].R.convertTo(R, CV_32F);
|
||||
cameras[i].R = R;
|
||||
LOGLN("Initial focal length #" << indices[i]+1 << ": " << cameras[i].focal);
|
||||
}
|
||||
|
||||
BundleAdjuster adjuster(ba_space, conf_thresh);
|
||||
adjuster(features, pairwise_matches, cameras);
|
||||
|
||||
// Find median focal length
|
||||
vector<double> focals;
|
||||
for (size_t i = 0; i < cameras.size(); ++i)
|
||||
{
|
||||
LOGLN("Camera #" << indices[i]+1 << " focal length: " << cameras[i].focal);
|
||||
focals.push_back(cameras[i].focal);
|
||||
}
|
||||
nth_element(focals.begin(), focals.begin() + focals.size()/2, focals.end());
|
||||
float warped_image_scale = static_cast<float>(focals[focals.size() / 2]);
|
||||
|
||||
if (wave_correct)
|
||||
{
|
||||
vector<Mat> rmats;
|
||||
for (size_t i = 0; i < cameras.size(); ++i)
|
||||
rmats.push_back(cameras[i].R);
|
||||
waveCorrect(rmats);
|
||||
for (size_t i = 0; i < cameras.size(); ++i)
|
||||
cameras[i].R = rmats[i];
|
||||
}
|
||||
|
||||
LOGLN("Warping images (auxiliary)... ");
|
||||
t = getTickCount();
|
||||
|
||||
vector<Point> corners(num_images);
|
||||
vector<Mat> masks_warped(num_images);
|
||||
vector<Mat> images_warped(num_images);
|
||||
vector<Size> sizes(num_images);
|
||||
vector<Mat> masks(num_images);
|
||||
|
||||
// Preapre images masks
|
||||
for (int i = 0; i < num_images; ++i)
|
||||
{
|
||||
masks[i].create(images[i].size(), CV_8U);
|
||||
masks[i].setTo(Scalar::all(255));
|
||||
}
|
||||
|
||||
// Warp images and their masks
|
||||
Ptr<Warper> warper = Warper::createByCameraFocal(static_cast<float>(warped_image_scale * seam_work_aspect),
|
||||
warp_type, try_gpu);
|
||||
for (int i = 0; i < num_images; ++i)
|
||||
{
|
||||
corners[i] = warper->warp(images[i], static_cast<float>(cameras[i].focal * seam_work_aspect),
|
||||
cameras[i].R, images_warped[i]);
|
||||
sizes[i] = images_warped[i].size();
|
||||
warper->warp(masks[i], static_cast<float>(cameras[i].focal * seam_work_aspect),
|
||||
cameras[i].R, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT);
|
||||
}
|
||||
|
||||
vector<Mat> images_warped_f(num_images);
|
||||
for (int i = 0; i < num_images; ++i)
|
||||
images_warped[i].convertTo(images_warped_f[i], CV_32F);
|
||||
|
||||
LOGLN("Warping images, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
||||
|
||||
Ptr<ExposureCompensator> compensator = ExposureCompensator::createDefault(expos_comp_type);
|
||||
compensator->feed(corners, images_warped, masks_warped);
|
||||
|
||||
Ptr<SeamFinder> seam_finder = SeamFinder::createDefault(seam_find_type);
|
||||
seam_finder->find(images_warped_f, corners, masks_warped);
|
||||
|
||||
// Release unused memory
|
||||
images.clear();
|
||||
images_warped.clear();
|
||||
images_warped_f.clear();
|
||||
masks.clear();
|
||||
|
||||
LOGLN("Compositing...");
|
||||
t = getTickCount();
|
||||
|
||||
Mat img_warped, img_warped_s;
|
||||
Mat dilated_mask, seam_mask, mask, mask_warped;
|
||||
Ptr<Blender> blender;
|
||||
double compose_seam_aspect = 1;
|
||||
double compose_work_aspect = 1;
|
||||
|
||||
for (int img_idx = 0; img_idx < num_images; ++img_idx)
|
||||
{
|
||||
LOGLN("Compositing image #" << indices[img_idx]+1);
|
||||
|
||||
// Read image and resize it if necessary
|
||||
full_img = imread(img_names[img_idx]);
|
||||
if (!is_compose_scale_set)
|
||||
{
|
||||
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;
|
||||
|
||||
// Update warped image scale
|
||||
warped_image_scale *= static_cast<float>(compose_work_aspect);
|
||||
warper = Warper::createByCameraFocal(warped_image_scale, warp_type, try_gpu);
|
||||
|
||||
// Update corners and sizes
|
||||
for (int i = 0; i < num_images; ++i)
|
||||
{
|
||||
// Update camera focal
|
||||
cameras[i].focal *= compose_work_aspect;
|
||||
|
||||
// Update corner and size
|
||||
Size sz = full_img_sizes[i];
|
||||
if (abs(compose_scale - 1) > 1e-1)
|
||||
{
|
||||
sz.width = cvRound(full_img_sizes[i].width * compose_scale);
|
||||
sz.height = cvRound(full_img_sizes[i].height * compose_scale);
|
||||
}
|
||||
|
||||
Rect roi = warper->warpRoi(sz, static_cast<float>(cameras[i].focal), cameras[i].R);
|
||||
corners[i] = roi.tl();
|
||||
sizes[i] = roi.size();
|
||||
}
|
||||
}
|
||||
if (abs(compose_scale - 1) > 1e-1)
|
||||
resize(full_img, img, Size(), compose_scale, compose_scale);
|
||||
else
|
||||
img = full_img;
|
||||
full_img.release();
|
||||
Size img_size = img.size();
|
||||
|
||||
// Warp the current image
|
||||
warper->warp(img, static_cast<float>(cameras[img_idx].focal), cameras[img_idx].R,
|
||||
img_warped);
|
||||
|
||||
// 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, corners[img_idx], img_warped, mask_warped);
|
||||
|
||||
img_warped.convertTo(img_warped_s, CV_16S);
|
||||
img_warped.release();
|
||||
img.release();
|
||||
mask.release();
|
||||
|
||||
dilate(masks_warped[img_idx], dilated_mask, Mat());
|
||||
resize(dilated_mask, seam_mask, mask_warped.size());
|
||||
mask_warped = seam_mask & mask_warped;
|
||||
|
||||
if (blender.empty())
|
||||
{
|
||||
blender = Blender::createDefault(blend_type, try_gpu);
|
||||
Size dst_sz = resultRoi(corners, sizes).size();
|
||||
float blend_width = sqrt(static_cast<float>(dst_sz.area())) * blend_strength / 100.f;
|
||||
if (blend_width < 1.f)
|
||||
blender = Blender::createDefault(Blender::NO, try_gpu);
|
||||
else if (blend_type == Blender::MULTI_BAND)
|
||||
{
|
||||
MultiBandBlender* mb = dynamic_cast<MultiBandBlender*>(static_cast<Blender*>(blender));
|
||||
mb->setNumBands(static_cast<int>(ceil(log(blend_width)/log(2.)) - 1.));
|
||||
LOGLN("Multi-band blender, number of bands: " << mb->numBands());
|
||||
}
|
||||
else if (blend_type == Blender::FEATHER)
|
||||
{
|
||||
FeatherBlender* fb = dynamic_cast<FeatherBlender*>(static_cast<Blender*>(blender));
|
||||
fb->setSharpness(1.f/blend_width);
|
||||
LOGLN("Feather blender, sharpness: " << fb->sharpness());
|
||||
}
|
||||
blender->prepare(corners, sizes);
|
||||
}
|
||||
|
||||
// Blend the current image
|
||||
blender->feed(img_warped_s, mask_warped, corners[img_idx]);
|
||||
}
|
||||
|
||||
Mat result, result_mask;
|
||||
blender->blend(result, result_mask);
|
||||
|
||||
LOGLN("Compositing, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
||||
|
||||
imwrite(result_name, result);
|
||||
|
||||
LOGLN("Finished, total time: " << ((getTickCount() - app_start_time) / getTickFrequency()) << " sec");
|
||||
return 0;
|
||||
}
|
||||
|
||||
|
||||
Loading…
Reference in New Issue
Block a user