361 lines
12 KiB
C++
361 lines
12 KiB
C++
#include <opencv2/core/core.hpp>
|
|
#include <opencv2/highgui/highgui.hpp>
|
|
#include "util.hpp"
|
|
#include "warpers.hpp"
|
|
#include "blenders.hpp"
|
|
#include "seam_finders.hpp"
|
|
#include "motion_estimators.hpp"
|
|
|
|
using namespace std;
|
|
using namespace cv;
|
|
|
|
void printUsage()
|
|
{
|
|
cout << "Rotation model images stitcher.\n\n";
|
|
cout << "Usage: opencv_stitching img1 img2 [...imgN]\n"
|
|
<< "\t[--trygpu (yes|no)]\n"
|
|
<< "\t[--work_megapix <float>]\n"
|
|
<< "\t[--compose_megapix <float>]\n"
|
|
<< "\t[--matchconf <float>]\n"
|
|
<< "\t[--ba (ray|focal_ray)]\n"
|
|
<< "\t[--conf_thresh <float>]\n"
|
|
<< "\t[--wavecorrect (no|yes)]\n"
|
|
<< "\t[--warp (plane|cylindrical|spherical)]\n"
|
|
<< "\t[--seam (no|voronoi|graphcut)]\n"
|
|
<< "\t[--blend (no|feather|multiband)]\n"
|
|
<< "\t[--output <result_img>]\n\n";
|
|
cout << "--matchconf\n"
|
|
<< "\tGood values are in [0.2, 0.8] range usually.\n\n";
|
|
cout << "HINT:\n"
|
|
<< "\tDefault parameters are for '--trygpu no' configuration.\n"
|
|
<< "\tTry bigger values for --work_megapix if something is wrong.\n\n";
|
|
}
|
|
|
|
int main(int argc, char* argv[])
|
|
{
|
|
int64 app_start_time = getTickCount();
|
|
cv::setBreakOnError(true);
|
|
|
|
vector<string> img_names;
|
|
vector<Mat> images;
|
|
|
|
// Default parameters
|
|
bool trygpu = false;
|
|
double work_megapix = 0.2;
|
|
double compose_megapix = 1;
|
|
int ba_space = BundleAdjuster::FOCAL_RAY_SPACE;
|
|
float conf_thresh = 1.f;
|
|
bool wave_correct = true;
|
|
int warp_type = Warper::SPHERICAL;
|
|
bool user_match_conf = false;
|
|
float match_conf = 0.6f;
|
|
int seam_find_type = SeamFinder::VORONOI;
|
|
int blend_type = Blender::MULTI_BAND;
|
|
string result_name = "result.png";
|
|
|
|
double work_scale = -1, compose_scale = -1;
|
|
bool is_work_scale_set = false, is_compose_scale_set = false;
|
|
|
|
if (argc == 1)
|
|
{
|
|
printUsage();
|
|
return 0;
|
|
}
|
|
|
|
for (int i = 1; i < argc; ++i)
|
|
{
|
|
if (string(argv[i]) == "--work_megapix")
|
|
{
|
|
work_megapix = atof(argv[i + 1]);
|
|
break;
|
|
}
|
|
}
|
|
|
|
int64 t = getTickCount();
|
|
LOGLN("Parsing params and reading images...");
|
|
for (int i = 1; i < argc; ++i)
|
|
{
|
|
if (string(argv[i]) == "--trygpu")
|
|
{
|
|
if (string(argv[i + 1]) == "no")
|
|
trygpu = false;
|
|
else if (string(argv[i + 1]) == "yes")
|
|
trygpu = true;
|
|
else
|
|
{
|
|
cout << "Bad --trygpu flag value\n";
|
|
return -1;
|
|
}
|
|
i++;
|
|
}
|
|
else if (string(argv[i]) == "--work_megapix")
|
|
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]) == "--matchconf")
|
|
{
|
|
user_match_conf = true;
|
|
match_conf = static_cast<float>(atof(argv[i + 1]));
|
|
i++;
|
|
}
|
|
else if (string(argv[i]) == "--ba")
|
|
{
|
|
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]) == "--wavecorrect")
|
|
{
|
|
if (string(argv[i + 1]) == "no")
|
|
wave_correct = false;
|
|
else if (string(argv[i + 1]) == "yes")
|
|
wave_correct = true;
|
|
else
|
|
{
|
|
cout << "Bad --wavecorrect flag value\n";
|
|
return -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]) == "--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]) == "graphcut")
|
|
seam_find_type = SeamFinder::GRAPH_CUT;
|
|
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]) == "--output")
|
|
{
|
|
result_name = argv[i + 1];
|
|
i++;
|
|
}
|
|
else
|
|
{
|
|
img_names.push_back(argv[i]);
|
|
Mat full_img = imread(argv[i]);
|
|
if (full_img.empty())
|
|
{
|
|
cout << "Can't open image " << argv[i] << endl;
|
|
return -1;
|
|
}
|
|
if (work_megapix < 0)
|
|
images.push_back(full_img);
|
|
else
|
|
{
|
|
if (!is_work_scale_set)
|
|
{
|
|
work_scale = min(1.0, sqrt(work_megapix * 1e6 / full_img.size().area()));
|
|
is_work_scale_set = true;
|
|
}
|
|
Mat img;
|
|
resize(full_img, img, Size(), work_scale, work_scale);
|
|
images.push_back(img);
|
|
}
|
|
}
|
|
}
|
|
LOGLN("Parsing params and reading images, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
|
|
|
int num_images = static_cast<int>(images.size());
|
|
if (num_images < 2)
|
|
{
|
|
cout << "Need more images\n";
|
|
return -1;
|
|
}
|
|
|
|
t = getTickCount();
|
|
LOGLN("Finding features...");
|
|
vector<ImageFeatures> features;
|
|
SurfFeaturesFinder finder(trygpu);
|
|
finder(images, features);
|
|
LOGLN("Finding features, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
|
|
|
t = getTickCount();
|
|
LOGLN("Pairwise matching... ");
|
|
vector<MatchesInfo> pairwise_matches;
|
|
BestOf2NearestMatcher matcher(trygpu);
|
|
if (user_match_conf)
|
|
matcher = BestOf2NearestMatcher(trygpu, match_conf);
|
|
matcher(images, features, pairwise_matches);
|
|
LOGLN("Pairwise matching, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
|
|
|
vector<int> indices = leaveBiggestComponent(images, features, pairwise_matches, conf_thresh);
|
|
vector<string> img_names_subset;
|
|
for (size_t i = 0; i < indices.size(); ++i)
|
|
img_names_subset.push_back(img_names[indices[i]]);
|
|
img_names = img_names_subset;
|
|
|
|
num_images = static_cast<int>(images.size());
|
|
if (num_images < 2)
|
|
{
|
|
cout << "Need more images\n";
|
|
return -1;
|
|
}
|
|
|
|
t = getTickCount();
|
|
LOGLN("Estimating rotations...");
|
|
HomographyBasedEstimator estimator;
|
|
vector<CameraParams> cameras;
|
|
estimator(images, features, pairwise_matches, cameras);
|
|
LOGLN("Estimating rotations, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
|
|
|
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 " << i << ": " << cameras[i].focal);
|
|
}
|
|
|
|
t = getTickCount();
|
|
LOGLN("Bundle adjustment... ");
|
|
BundleAdjuster adjuster(ba_space, conf_thresh);
|
|
adjuster(images, features, pairwise_matches, cameras);
|
|
LOGLN("Bundle adjustment, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
|
|
|
if (wave_correct)
|
|
{
|
|
t = getTickCount();
|
|
LOGLN("Wave correcting...");
|
|
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("Wave correcting, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
|
}
|
|
|
|
// Find median focal length
|
|
vector<double> focals;
|
|
for (size_t i = 0; i < cameras.size(); ++i)
|
|
{
|
|
LOGLN("Camera focal length " << i << ": " << cameras[i].focal);
|
|
focals.push_back(cameras[i].focal);
|
|
}
|
|
nth_element(focals.begin(), focals.end(), focals.begin() + focals.size() / 2);
|
|
float camera_focal = static_cast<float>(focals[focals.size() / 2]);
|
|
|
|
if ((work_megapix > 0 || compose_megapix > 0)
|
|
&& abs(work_megapix - compose_megapix) > 1e-3)
|
|
{
|
|
t = getTickCount();
|
|
LOGLN("Compose scaling...");
|
|
for (int i = 0; i < num_images; ++i)
|
|
{
|
|
Mat full_img = imread(img_names[i]);
|
|
if (!is_compose_scale_set)
|
|
{
|
|
compose_scale = min(1.0, sqrt(compose_megapix * 1e6 / full_img.size().area()));
|
|
is_compose_scale_set = true;
|
|
}
|
|
Mat img;
|
|
resize(full_img, img, Size(), compose_scale, compose_scale);
|
|
images[i] = img;
|
|
cameras[i].focal *= compose_scale / work_scale;
|
|
}
|
|
camera_focal *= static_cast<float>(compose_scale / work_scale);
|
|
LOGLN("Compose scaling, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
|
}
|
|
|
|
vector<Mat> masks(num_images);
|
|
for (int i = 0; i < num_images; ++i)
|
|
{
|
|
masks[i].create(images[i].size(), CV_8U);
|
|
masks[i].setTo(Scalar::all(255));
|
|
}
|
|
|
|
vector<Point> corners(num_images);
|
|
vector<Mat> masks_warped(num_images);
|
|
vector<Mat> images_warped(num_images);
|
|
|
|
t = getTickCount();
|
|
LOGLN("Warping images... ");
|
|
Ptr<Warper> warper = Warper::createByCameraFocal(camera_focal, warp_type);
|
|
for (int i = 0; i < num_images; ++i)
|
|
{
|
|
corners[i] = (*warper)(images[i], static_cast<float>(cameras[i].focal), cameras[i].R, images_warped[i]);
|
|
(*warper)(masks[i], static_cast<float>(cameras[i].focal), cameras[i].R, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT);
|
|
}
|
|
vector<Mat> images_f(num_images);
|
|
for (int i = 0; i < num_images; ++i)
|
|
images_warped[i].convertTo(images_f[i], CV_32F);
|
|
LOGLN("Warping images, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
|
|
|
t = getTickCount();
|
|
LOGLN("Finding seams...");
|
|
Ptr<SeamFinder> seam_finder = SeamFinder::createDefault(seam_find_type);
|
|
(*seam_finder)(images_f, corners, masks_warped);
|
|
LOGLN("Finding seams, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
|
|
|
t = getTickCount();
|
|
LOGLN("Blending images...");
|
|
Mat result, result_mask;
|
|
Ptr<Blender> blender = Blender::createDefault(blend_type);
|
|
(*blender)(images_f, corners, masks_warped, result, result_mask);
|
|
LOGLN("Blending images, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
|
|
|
|
imwrite(result_name, result);
|
|
|
|
LOGLN("Finished, total time: " << ((getTickCount() - app_start_time) / getTickFrequency()) << " sec");
|
|
return 0;
|
|
}
|
|
|