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added scaling of images before seam estimation (opencv_stitching)

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This commit is contained in:
Alexey Spizhevoy 2011-05-23 07:10:48 +00:00
parent f2a337f990
commit f391ea2ad0
1 changed files with 58 additions and 39 deletions
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99
modules/stitching/main.cpp
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@ -15,8 +15,9 @@ void printUsage()
cout << "Usage: opencv_stitching img1 img2 [...imgN]\n" cout << "Usage: opencv_stitching img1 img2 [...imgN]\n"
<< "\t[--trygpu (yes|no)]\n" << "\t[--trygpu (yes|no)]\n"
<< "\t[--work_megapix <float>]\n" << "\t[--work_megapix <float>]\n"
<< "\t[--seam_megapix <float>]\n"
<< "\t[--compose_megapix <float>]\n" << "\t[--compose_megapix <float>]\n"
<< "\t[--matchconf <float>]\n" << "\t[--match_conf <float>]\n"
<< "\t[--ba (ray|focal_ray)]\n" << "\t[--ba (ray|focal_ray)]\n"
<< "\t[--conf_thresh <float>]\n" << "\t[--conf_thresh <float>]\n"
<< "\t[--wavecorrect (no|yes)]\n" << "\t[--wavecorrect (no|yes)]\n"
@ -25,7 +26,7 @@ void printUsage()
<< "\t[--blend (no|feather|multiband)]\n" << "\t[--blend (no|feather|multiband)]\n"
<< "\t[--numbands <int>]\n" << "\t[--numbands <int>]\n"
<< "\t[--output <result_img>]\n\n"; << "\t[--output <result_img>]\n\n";
cout << "--matchconf\n" cout << "--match_conf\n"
<< "\tGood values are in [0.2, 0.8] range usually.\n\n"; << "\tGood values are in [0.2, 0.8] range usually.\n\n";
cout << "HINT:\n" cout << "HINT:\n"
<< "\tDefault parameters are for '--trygpu no' configuration.\n" << "\tDefault parameters are for '--trygpu no' configuration.\n"
@ -33,10 +34,11 @@ void printUsage()
} }
// Command line args // Default command line args
vector<string> img_names; vector<string> img_names;
bool trygpu = false; bool trygpu = false;
double work_megapix = 0.2; double work_megapix = 0.3;
double seam_megapix = 0.1;
double compose_megapix = 1; double compose_megapix = 1;
int ba_space = BundleAdjuster::FOCAL_RAY_SPACE; int ba_space = BundleAdjuster::FOCAL_RAY_SPACE;
float conf_thresh = 1.f; float conf_thresh = 1.f;
@ -57,15 +59,6 @@ int parseCmdArgs(int argc, char** argv)
return -1; return -1;
} }
for (int i = 1; i < argc; ++i)
{
if (string(argv[i]) == "--work_megapix")
{
work_megapix = atof(argv[i + 1]);
break;
}
}
for (int i = 1; i < argc; ++i) for (int i = 1; i < argc; ++i)
{ {
if (string(argv[i]) == "--trygpu") if (string(argv[i]) == "--trygpu")
@ -82,7 +75,15 @@ int parseCmdArgs(int argc, char** argv)
i++; i++;
} }
else if (string(argv[i]) == "--work_megapix") else if (string(argv[i]) == "--work_megapix")
{
work_megapix = atof(argv[i + 1]);
i++; i++;
}
else if (string(argv[i]) == "--seam_megapix")
{
seam_megapix = atof(argv[i + 1]);
i++;
}
else if (string(argv[i]) == "--compose_megapix") else if (string(argv[i]) == "--compose_megapix")
{ {
compose_megapix = atof(argv[i + 1]); compose_megapix = atof(argv[i + 1]);
@ -93,7 +94,7 @@ int parseCmdArgs(int argc, char** argv)
result_name = argv[i + 1]; result_name = argv[i + 1];
i++; i++;
} }
else if (string(argv[i]) == "--matchconf") else if (string(argv[i]) == "--match_conf")
{ {
user_match_conf = true; user_match_conf = true;
match_conf = static_cast<float>(atof(argv[i + 1])); match_conf = static_cast<float>(atof(argv[i + 1]));
@ -205,30 +206,37 @@ int main(int argc, char* argv[])
int num_images = static_cast<int>(img_names.size()); int num_images = static_cast<int>(img_names.size());
if (num_images < 2) if (num_images < 2)
{ {
cout << "Need more images\n"; LOGLN("Need more images");
return -1; return -1;
} }
// We do all matching in work_scale sclae, and compositing in compose_scale scale double work_scale = 1, seam_scale = 1, compose_scale = 1;
double work_scale = 1, compose_scale = 1; bool is_work_scale_set = false, is_seam_scale_set = false, is_compose_scale_set = false;
bool is_work_scale_set = false, is_compose_scale_set = false;
LOGLN("Reading images and finding features..."); LOGLN("Reading images and finding features...");
int64 t = getTickCount(); int64 t = getTickCount();
vector<Mat> images(num_images);
vector<ImageFeatures> features(num_images); vector<ImageFeatures> features(num_images);
SurfFeaturesFinder finder(trygpu); SurfFeaturesFinder finder(trygpu);
Mat full_img, img; Mat full_img, img;
vector<Mat> images(num_images);
double seam_work_aspect = 1;
for (int i = 0; i < num_images; ++i) for (int i = 0; i < num_images; ++i)
{ {
full_img = imread(img_names[i]); full_img = imread(img_names[i]);
if (full_img.empty()) if (full_img.empty())
{ {
cout << "Can't open image " << img_names[i] << endl; LOGLN("Can't open image " << img_names[i]);
return -1; return -1;
} }
if (work_megapix < 0) if (work_megapix < 0)
{
img = full_img; img = full_img;
work_scale = 1;
is_work_scale_set = true;
}
else else
{ {
if (!is_work_scale_set) if (!is_work_scale_set)
@ -238,11 +246,23 @@ int main(int argc, char* argv[])
} }
resize(full_img, img, Size(), work_scale, work_scale); resize(full_img, img, Size(), work_scale, work_scale);
} }
images[i] = img.clone(); if (!is_seam_scale_set)
finder(img, features[i]); {
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]);
LOGLN("Features in image #" << i << ": " << features[i].keypoints.size());
resize(full_img, img, Size(), seam_scale, seam_scale);
images[i] = img.clone();
}
full_img.release(); full_img.release();
img.release(); img.release();
LOGLN("Reading images and finding features, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec"); LOGLN("Reading images and finding features, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
LOGLN("Pairwise matching... "); LOGLN("Pairwise matching... ");
@ -259,18 +279,14 @@ int main(int argc, char* argv[])
vector<Mat> img_subset; vector<Mat> img_subset;
vector<string> img_names_subset; vector<string> img_names_subset;
for (size_t i = 0; i < indices.size(); ++i) for (size_t i = 0; i < indices.size(); ++i)
{
img_subset.push_back(images[indices[i]]);
img_names_subset.push_back(img_names[indices[i]]); img_names_subset.push_back(img_names[indices[i]]);
}
images = img_subset;
img_names = img_names_subset; img_names = img_names_subset;
// Check if we still have enough images // Check if we still have enough images
num_images = static_cast<int>(img_names.size()); num_images = static_cast<int>(img_names.size());
if (num_images < 2) if (num_images < 2)
{ {
cout << "Need more images\n"; LOGLN("Need more images");
return -1; return -1;
} }
@ -327,7 +343,7 @@ int main(int argc, char* argv[])
vector<Size> sizes(num_images); vector<Size> sizes(num_images);
vector<Mat> masks(num_images); vector<Mat> masks(num_images);
// Preapre original images masks // Preapre images masks
for (int i = 0; i < num_images; ++i) for (int i = 0; i < num_images; ++i)
{ {
masks[i].create(images[i].size(), CV_8U); masks[i].create(images[i].size(), CV_8U);
@ -335,14 +351,15 @@ int main(int argc, char* argv[])
} }
// Warp images and their masks // Warp images and their masks
Ptr<Warper> warper = Warper::createByCameraFocal(camera_focal, warp_type); Ptr<Warper> warper = Warper::createByCameraFocal(static_cast<float>(camera_focal * seam_work_aspect),
warp_type);
for (int i = 0; i < num_images; ++i) for (int i = 0; i < num_images; ++i)
{ {
corners[i] = warper->warp(images[i], static_cast<float>(cameras[i].focal), cameras[i].R, corners[i] = warper->warp(images[i], static_cast<float>(cameras[i].focal * seam_work_aspect),
images_warped[i]); cameras[i].R, images_warped[i]);
sizes[i] = images_warped[i].size(); sizes[i] = images_warped[i].size();
warper->warp(masks[i], static_cast<float>(cameras[i].focal), cameras[i].R, masks_warped[i], warper->warp(masks[i], static_cast<float>(cameras[i].focal * seam_work_aspect),
INTER_NEAREST, BORDER_CONSTANT); cameras[i].R, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT);
} }
// Convert to float for blending // Convert to float for blending
@ -373,7 +390,8 @@ int main(int argc, char* argv[])
Mat img_warped, img_warped_f; Mat img_warped, img_warped_f;
Mat dilated_mask, seam_mask, mask, mask_warped; Mat dilated_mask, seam_mask, mask, mask_warped;
Ptr<Blender> blender; Ptr<Blender> blender;
double compose_aspect = 1; double compose_seam_aspect = 1;
double compose_work_aspect = 1;
for (int img_idx = 0; img_idx < num_images; ++img_idx) for (int img_idx = 0; img_idx < num_images; ++img_idx)
{ {
@ -386,8 +404,9 @@ int main(int argc, char* argv[])
if (compose_megapix > 0) if (compose_megapix > 0)
compose_scale = min(1.0, sqrt(compose_megapix * 1e6 / full_img.size().area())); compose_scale = min(1.0, sqrt(compose_megapix * 1e6 / full_img.size().area()));
is_compose_scale_set = true; is_compose_scale_set = true;
compose_aspect = compose_scale / work_scale; compose_seam_aspect = compose_scale / seam_scale;
camera_focal *= static_cast<float>(compose_aspect); compose_work_aspect = compose_scale / work_scale;
camera_focal *= static_cast<float>(compose_work_aspect);
warper = Warper::createByCameraFocal(camera_focal, warp_type); warper = Warper::createByCameraFocal(camera_focal, warp_type);
} }
if (abs(compose_scale - 1) > 1e-1) if (abs(compose_scale - 1) > 1e-1)
@ -397,7 +416,7 @@ int main(int argc, char* argv[])
full_img.release(); full_img.release();
// Update cameras paramters // Update cameras paramters
cameras[img_idx].focal *= compose_aspect; cameras[img_idx].focal *= compose_work_aspect;
// Warp the current image // Warp the current image
warper->warp(img, static_cast<float>(cameras[img_idx].focal), cameras[img_idx].R, warper->warp(img, static_cast<float>(cameras[img_idx].focal), cameras[img_idx].R,
@ -429,9 +448,9 @@ int main(int argc, char* argv[])
Rect dst_roi = resultRoi(corners, sizes); Rect dst_roi = resultRoi(corners, sizes);
for (int i = 0; i < num_images; ++i) for (int i = 0; i < num_images; ++i)
{ {
corners[i] = dst_roi.tl() + (corners[i] - dst_roi.tl()) * compose_aspect; corners[i] = dst_roi.tl() + (corners[i] - dst_roi.tl()) * compose_seam_aspect;
sizes[i] = Size(static_cast<int>((sizes[i].width + 1) * compose_aspect), sizes[i] = Size(static_cast<int>((sizes[i].width + 1) * compose_seam_aspect),
static_cast<int>((sizes[i].height + 1) * compose_aspect)); static_cast<int>((sizes[i].height + 1) * compose_seam_aspect));
} }
blender->prepare(corners, sizes); blender->prepare(corners, sizes);
} }