added scaling of images before seam estimation (opencv_stitching)
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@ -15,8 +15,9 @@ void printUsage()
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cout << "Usage: opencv_stitching img1 img2 [...imgN]\n"
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<< "\t[--trygpu (yes|no)]\n"
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<< "\t[--work_megapix <float>]\n"
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<< "\t[--seam_megapix <float>]\n"
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<< "\t[--compose_megapix <float>]\n"
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<< "\t[--matchconf <float>]\n"
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<< "\t[--match_conf <float>]\n"
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<< "\t[--ba (ray|focal_ray)]\n"
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<< "\t[--conf_thresh <float>]\n"
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<< "\t[--wavecorrect (no|yes)]\n"
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@ -25,7 +26,7 @@ void printUsage()
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<< "\t[--blend (no|feather|multiband)]\n"
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<< "\t[--numbands <int>]\n"
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<< "\t[--output <result_img>]\n\n";
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cout << "--matchconf\n"
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cout << "--match_conf\n"
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<< "\tGood values are in [0.2, 0.8] range usually.\n\n";
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cout << "HINT:\n"
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<< "\tDefault parameters are for '--trygpu no' configuration.\n"
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@ -33,10 +34,11 @@ void printUsage()
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}
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// Command line args
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// Default command line args
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vector<string> img_names;
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bool trygpu = false;
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double work_megapix = 0.2;
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double work_megapix = 0.3;
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double seam_megapix = 0.1;
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double compose_megapix = 1;
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int ba_space = BundleAdjuster::FOCAL_RAY_SPACE;
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float conf_thresh = 1.f;
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@ -57,15 +59,6 @@ int parseCmdArgs(int argc, char** argv)
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return -1;
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}
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for (int i = 1; i < argc; ++i)
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{
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if (string(argv[i]) == "--work_megapix")
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{
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work_megapix = atof(argv[i + 1]);
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break;
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}
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}
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for (int i = 1; i < argc; ++i)
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{
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if (string(argv[i]) == "--trygpu")
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@ -82,7 +75,15 @@ int parseCmdArgs(int argc, char** argv)
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i++;
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}
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else if (string(argv[i]) == "--work_megapix")
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{
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work_megapix = atof(argv[i + 1]);
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i++;
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}
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else if (string(argv[i]) == "--seam_megapix")
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{
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seam_megapix = atof(argv[i + 1]);
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i++;
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}
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else if (string(argv[i]) == "--compose_megapix")
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{
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compose_megapix = atof(argv[i + 1]);
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@ -93,7 +94,7 @@ int parseCmdArgs(int argc, char** argv)
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result_name = argv[i + 1];
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i++;
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}
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else if (string(argv[i]) == "--matchconf")
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else if (string(argv[i]) == "--match_conf")
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{
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user_match_conf = true;
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match_conf = static_cast<float>(atof(argv[i + 1]));
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@ -205,30 +206,37 @@ int main(int argc, char* argv[])
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int num_images = static_cast<int>(img_names.size());
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if (num_images < 2)
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{
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cout << "Need more images\n";
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LOGLN("Need more images");
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return -1;
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}
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// We do all matching in work_scale sclae, and compositing in compose_scale scale
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double work_scale = 1, compose_scale = 1;
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bool is_work_scale_set = false, is_compose_scale_set = false;
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double work_scale = 1, seam_scale = 1, compose_scale = 1;
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bool is_work_scale_set = false, is_seam_scale_set = false, is_compose_scale_set = false;
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LOGLN("Reading images and finding features...");
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int64 t = getTickCount();
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vector<Mat> images(num_images);
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vector<ImageFeatures> features(num_images);
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SurfFeaturesFinder finder(trygpu);
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Mat full_img, img;
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vector<Mat> images(num_images);
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double seam_work_aspect = 1;
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for (int i = 0; i < num_images; ++i)
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{
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full_img = imread(img_names[i]);
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if (full_img.empty())
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{
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cout << "Can't open image " << img_names[i] << endl;
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LOGLN("Can't open image " << img_names[i]);
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return -1;
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}
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if (work_megapix < 0)
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{
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img = full_img;
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work_scale = 1;
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is_work_scale_set = true;
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}
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else
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{
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if (!is_work_scale_set)
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@ -238,11 +246,23 @@ int main(int argc, char* argv[])
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}
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resize(full_img, img, Size(), work_scale, work_scale);
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}
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images[i] = img.clone();
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if (!is_seam_scale_set)
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{
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seam_scale = min(1.0, sqrt(seam_megapix * 1e6 / full_img.size().area()));
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seam_work_aspect = seam_scale / work_scale;
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is_seam_scale_set = true;
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}
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finder(img, features[i]);
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LOGLN("Features in image #" << i << ": " << features[i].keypoints.size());
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resize(full_img, img, Size(), seam_scale, seam_scale);
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images[i] = img.clone();
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}
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full_img.release();
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img.release();
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LOGLN("Reading images and finding features, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
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LOGLN("Pairwise matching... ");
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@ -259,18 +279,14 @@ int main(int argc, char* argv[])
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vector<Mat> img_subset;
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vector<string> img_names_subset;
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for (size_t i = 0; i < indices.size(); ++i)
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{
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img_subset.push_back(images[indices[i]]);
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img_names_subset.push_back(img_names[indices[i]]);
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}
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images = img_subset;
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img_names = img_names_subset;
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// Check if we still have enough images
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num_images = static_cast<int>(img_names.size());
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if (num_images < 2)
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{
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cout << "Need more images\n";
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LOGLN("Need more images");
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return -1;
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}
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@ -327,7 +343,7 @@ int main(int argc, char* argv[])
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vector<Size> sizes(num_images);
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vector<Mat> masks(num_images);
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// Preapre original images masks
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// Preapre images masks
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for (int i = 0; i < num_images; ++i)
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{
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masks[i].create(images[i].size(), CV_8U);
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@ -335,14 +351,15 @@ int main(int argc, char* argv[])
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}
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// Warp images and their masks
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Ptr<Warper> warper = Warper::createByCameraFocal(camera_focal, warp_type);
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Ptr<Warper> warper = Warper::createByCameraFocal(static_cast<float>(camera_focal * seam_work_aspect),
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warp_type);
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for (int i = 0; i < num_images; ++i)
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{
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corners[i] = warper->warp(images[i], static_cast<float>(cameras[i].focal), cameras[i].R,
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images_warped[i]);
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corners[i] = warper->warp(images[i], static_cast<float>(cameras[i].focal * seam_work_aspect),
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cameras[i].R, images_warped[i]);
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sizes[i] = images_warped[i].size();
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warper->warp(masks[i], static_cast<float>(cameras[i].focal), cameras[i].R, masks_warped[i],
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INTER_NEAREST, BORDER_CONSTANT);
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warper->warp(masks[i], static_cast<float>(cameras[i].focal * seam_work_aspect),
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cameras[i].R, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT);
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}
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// Convert to float for blending
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@ -373,7 +390,8 @@ int main(int argc, char* argv[])
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Mat img_warped, img_warped_f;
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Mat dilated_mask, seam_mask, mask, mask_warped;
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Ptr<Blender> blender;
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double compose_aspect = 1;
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double compose_seam_aspect = 1;
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double compose_work_aspect = 1;
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for (int img_idx = 0; img_idx < num_images; ++img_idx)
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{
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@ -386,8 +404,9 @@ int main(int argc, char* argv[])
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if (compose_megapix > 0)
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compose_scale = min(1.0, sqrt(compose_megapix * 1e6 / full_img.size().area()));
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is_compose_scale_set = true;
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compose_aspect = compose_scale / work_scale;
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camera_focal *= static_cast<float>(compose_aspect);
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compose_seam_aspect = compose_scale / seam_scale;
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compose_work_aspect = compose_scale / work_scale;
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camera_focal *= static_cast<float>(compose_work_aspect);
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warper = Warper::createByCameraFocal(camera_focal, warp_type);
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}
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if (abs(compose_scale - 1) > 1e-1)
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@ -397,7 +416,7 @@ int main(int argc, char* argv[])
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full_img.release();
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// Update cameras paramters
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cameras[img_idx].focal *= compose_aspect;
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cameras[img_idx].focal *= compose_work_aspect;
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// Warp the current image
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warper->warp(img, static_cast<float>(cameras[img_idx].focal), cameras[img_idx].R,
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@ -429,9 +448,9 @@ int main(int argc, char* argv[])
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Rect dst_roi = resultRoi(corners, sizes);
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for (int i = 0; i < num_images; ++i)
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{
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corners[i] = dst_roi.tl() + (corners[i] - dst_roi.tl()) * compose_aspect;
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sizes[i] = Size(static_cast<int>((sizes[i].width + 1) * compose_aspect),
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static_cast<int>((sizes[i].height + 1) * compose_aspect));
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corners[i] = dst_roi.tl() + (corners[i] - dst_roi.tl()) * compose_seam_aspect;
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sizes[i] = Size(static_cast<int>((sizes[i].width + 1) * compose_seam_aspect),
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static_cast<int>((sizes[i].height + 1) * compose_seam_aspect));
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}
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blender->prepare(corners, sizes);
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}
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