// the use of this software, even if advised of the possibility of such damage.\r
//\r
//M*/\r
+\r
#ifndef __OPENCV_STITCHING_AUTOCALIB_HPP__\r
#define __OPENCV_STITCHING_AUTOCALIB_HPP__\r
\r
// the use of this software, even if advised of the possibility of such damage.\r
//\r
//M*/\r
+\r
#ifndef __OPENCV_STITCHING_BLENDERS_HPP__\r
#define __OPENCV_STITCHING_BLENDERS_HPP__\r
\r
enum { NO, FEATHER, MULTI_BAND };\r
static Ptr<Blender> createDefault(int type, bool try_gpu = false);\r
\r
- void prepare(const std::vector<Point> &corners, const std::vector<Size> &sizes);\r
+ void prepare(const std::vector<Point> &corners, const std::vector<Size> &sizes); \r
virtual void prepare(Rect dst_roi);\r
virtual void feed(const Mat &img, const Mat &mask, Point tl);\r
virtual void blend(Mat &dst, Mat &dst_mask);\r
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
+
#ifndef __OPENCV_STITCHING_CAMERA_HPP__
#define __OPENCV_STITCHING_CAMERA_HPP__
// the use of this software, even if advised of the possibility of such damage.\r
//\r
//M*/\r
+\r
#ifndef __OPENCV_STITCHING_EXPOSURE_COMPENSATE_HPP__\r
#define __OPENCV_STITCHING_EXPOSURE_COMPENSATE_HPP__\r
\r
// the use of this software, even if advised of the possibility of such damage.\r
//\r
//M*/\r
+\r
#ifndef __OPENCV_STITCHING_MATCHERS_HPP__\r
#define __OPENCV_STITCHING_MATCHERS_HPP__\r
\r
struct CV_EXPORTS ImageFeatures\r
{\r
int img_idx;\r
- cv::Size img_size;\r
- std::vector<cv::KeyPoint> keypoints;\r
- cv::Mat descriptors;\r
+ Size img_size;\r
+ std::vector<KeyPoint> keypoints;\r
+ Mat descriptors;\r
};\r
\r
\r
{\r
public:\r
virtual ~FeaturesFinder() {}\r
- void operator ()(const cv::Mat &image, ImageFeatures &features);\r
+ void operator ()(const Mat &image, ImageFeatures &features);\r
\r
- virtual void releaseMemory() {}\r
+ // TODO put it into operator ()\r
+ virtual void collectGarbage() {}\r
\r
protected:\r
- virtual void find(const cv::Mat &image, ImageFeatures &features) = 0;\r
+ virtual void find(const Mat &image, ImageFeatures &features) = 0;\r
};\r
\r
\r
int num_octaves = 3, int num_layers = 4, \r
int num_octaves_descr = 4, int num_layers_descr = 2);\r
\r
- void releaseMemory();\r
+ void collectGarbage();\r
\r
protected:\r
- void find(const cv::Mat &image, ImageFeatures &features);\r
+ void find(const Mat &image, ImageFeatures &features);\r
\r
- cv::Ptr<FeaturesFinder> impl_;\r
+ Ptr<FeaturesFinder> impl_;\r
};\r
\r
\r
const MatchesInfo& operator =(const MatchesInfo &other);\r
\r
int src_img_idx, dst_img_idx; // Images indices (optional)\r
- std::vector<cv::DMatch> matches;\r
+ std::vector<DMatch> matches;\r
std::vector<uchar> inliers_mask; // Geometrically consistent matches mask\r
int num_inliers; // Number of geometrically consistent matches\r
- cv::Mat H; // Estimated homography\r
+ Mat H; // Estimated homography\r
double confidence; // Confidence two images are from the same panorama\r
};\r
\r
\r
bool isThreadSafe() const { return is_thread_safe_; }\r
\r
- virtual void releaseMemory() {}\r
+ virtual void collectGarbage() {}\r
\r
protected:\r
FeaturesMatcher(bool is_thread_safe = false) : is_thread_safe_(is_thread_safe) {}\r
class CV_EXPORTS BestOf2NearestMatcher : public FeaturesMatcher\r
{\r
public:\r
- BestOf2NearestMatcher(bool try_use_gpu = true, float match_conf = 0.55f, int num_matches_thresh1 = 6, \r
+ BestOf2NearestMatcher(bool try_use_gpu = true, float match_conf = 0.65f, int num_matches_thresh1 = 6,\r
int num_matches_thresh2 = 6);\r
\r
- void releaseMemory();\r
+ void collectGarbage();\r
\r
protected:\r
void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo &matches_info);\r
\r
int num_matches_thresh1_;\r
int num_matches_thresh2_;\r
- cv::Ptr<FeaturesMatcher> impl_;\r
+ Ptr<FeaturesMatcher> impl_;\r
};\r
\r
} // namespace detail\r
// the use of this software, even if advised of the possibility of such damage.\r
//\r
//M*/\r
+\r
#ifndef __OPENCV_STITCHING_MOTION_ESTIMATORS_HPP__\r
#define __OPENCV_STITCHING_MOTION_ESTIMATORS_HPP__\r
\r
// the use of this software, even if advised of the possibility of such damage.\r
//\r
//M*/\r
+\r
#ifndef __OPENCV_STITCHING_SEAM_FINDERS_HPP__\r
#define __OPENCV_STITCHING_SEAM_FINDERS_HPP__\r
\r
// the use of this software, even if advised of the possibility of such damage.\r
//\r
//M*/\r
+\r
#ifndef __OPENCV_STITCHING_UTIL_HPP__\r
#define __OPENCV_STITCHING_UTIL_HPP__\r
\r
\r
#define ENABLE_LOG 1\r
\r
+// TODO remove LOG macros, add logging class\r
#if ENABLE_LOG\r
#include <iostream>\r
#define LOG(msg) { std::cout << msg; std::cout.flush(); }\r
// the use of this software, even if advised of the possibility of such damage.\r
//\r
//M*/\r
+\r
#ifndef __OPENCV_STITCHING_UTIL_INL_HPP__\r
#define __OPENCV_STITCHING_UTIL_INL_HPP__\r
\r
// the use of this software, even if advised of the possibility of such damage.\r
//\r
//M*/\r
+\r
#ifndef __OPENCV_STITCHING_WARPERS_HPP__\r
#define __OPENCV_STITCHING_WARPERS_HPP__\r
\r
{\r
public:\r
enum { PLANE, CYLINDRICAL, SPHERICAL };\r
+\r
+ // TODO remove this method\r
static Ptr<Warper> createByCameraFocal(float focal, int type, bool try_gpu = false);\r
\r
virtual ~Warper() {}\r
virtual Point warp(const Mat &src, float focal, const Mat& R, Mat &dst,\r
- int interp_mode = INTER_LINEAR, int border_mode = BORDER_REFLECT) = 0;\r
+ int interp_mode = INTER_LINEAR, int border_mode = BORDER_REFLECT) = 0;\r
virtual Rect warpRoi(const Size &sz, float focal, const Mat &R) = 0;\r
};\r
\r
{ \r
public:\r
virtual Point warp(const Mat &src, float focal, const Mat &R, Mat &dst,\r
- int interp_mode, int border_mode);\r
+ int interp_mode, int border_mode);\r
\r
virtual Rect warpRoi(const Size &sz, float focal, const Mat &R);\r
\r
public:\r
PlaneWarperGpu(float plane_dist = 1.f, float scale = 1.f) : PlaneWarper(plane_dist, scale) {}\r
Point warp(const Mat &src, float focal, const Mat &R, Mat &dst,\r
- int interp_mode, int border_mode);\r
+ int interp_mode, int border_mode);\r
\r
private:\r
gpu::GpuMat d_xmap_, d_ymap_, d_dst_, d_src_;\r
// the use of this software, even if advised of the possibility of such damage.\r
//\r
//M*/\r
+\r
#ifndef __OPENCV_STITCHING_WARPERS_INL_HPP__\r
#define __OPENCV_STITCHING_WARPERS_INL_HPP__\r
\r
\r
template <class P>\r
Point WarperBase<P>::warp(const Mat &src, float focal, const Mat &R, Mat &dst,\r
- int interp_mode, int border_mode)\r
+ int interp_mode, int border_mode)\r
{\r
src_size_ = src.size();\r
\r
--- /dev/null
+/*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*/
+
+#ifndef __OPENCV_STITCHING_STITCHER_HPP__
+#define __OPENCV_STITCHING_STITCHER_HPP__
+
+#include "opencv2/core/core.hpp"
+#include "opencv2/features2d/features2d.hpp"
+#include "warpers.hpp"
+#include "detail/matchers.hpp"
+#include "detail/exposure_compensate.hpp"
+#include "detail/seam_finders.hpp"
+#include "detail/blenders.hpp"
+
+namespace cv {
+
+class Stitcher
+{
+public:
+ enum { ORIG_RESOL = -1 };
+ enum Status { OK, ERR_NEED_MORE_IMGS };
+
+ // Creates stitcher with default parameters
+ static Stitcher createDefault(bool try_use_gpu = false);
+
+ // Stitches the biggest found pano. Returns status code.
+ Status stitch(InputArray imgs, OutputArray pano);
+
+ double registrationResol() const { return registr_resol_; }
+ void setRegistrationResol(double resol_mpx) { registr_resol_ = resol_mpx; }
+
+ double seamEstimationResol() const { return seam_est_resol_; }
+ void setSeamEstimationResol(double resol_mpx) { seam_est_resol_ = resol_mpx; }
+
+ double compositingResol() const { return compose_resol_; }
+ void setCompositingResol(double resol_mpx) { compose_resol_ = resol_mpx; }
+
+ double panoConfidenceThresh() const { return conf_thresh_; }
+ void setPanoConfidenceThresh(double conf_thresh) { conf_thresh_ = conf_thresh; }
+
+ bool horizontalStrightening() const { return horiz_stright_; }
+ void setHorizontalStrightening(bool flag) { horiz_stright_ = flag; }
+
+ Ptr<detail::FeaturesFinder> featuresFinder() { return features_finder_; }
+ const Ptr<detail::FeaturesFinder> featuresFinder() const { return features_finder_; }
+ void setFeaturesFinder(Ptr<detail::FeaturesFinder> features_finder)
+ { features_finder_ = features_finder; }
+
+ Ptr<detail::FeaturesMatcher> featuresMatcher() { return features_matcher_; }
+ const Ptr<detail::FeaturesMatcher> featuresMatcher() const { return features_matcher_; }
+ void setFeaturesMatcher(Ptr<detail::FeaturesMatcher> features_matcher)
+ { features_matcher_ = features_matcher; }
+
+ Ptr<WarperCreator> warper() { return warper_; }
+ const Ptr<WarperCreator> warper() const { return warper_; }
+ void setWarper(Ptr<WarperCreator> warper) { warper_ = warper; }
+
+ Ptr<detail::ExposureCompensator> exposureCompensator() { return exposure_comp_; }
+ const Ptr<detail::ExposureCompensator> exposureCompensator() const { return exposure_comp_; }
+ void setExposureCompenstor(Ptr<detail::ExposureCompensator> exposure_comp)
+ { exposure_comp_ = exposure_comp; }
+
+ Ptr<detail::SeamFinder> seamFinder() { return seam_finder_; }
+ const Ptr<detail::SeamFinder> seamFinder() const { return seam_finder_; }
+ void setSeamFinder(Ptr<detail::SeamFinder> seam_finder) { seam_finder_ = seam_finder; }
+
+ Ptr<detail::Blender> blender() { return blender_; }
+ const Ptr<detail::Blender> blender() const { return blender_; }
+ void setBlender(Ptr<detail::Blender> blender) { blender_ = blender; }
+
+private:
+ Stitcher() {}
+
+ double registr_resol_;
+ double seam_est_resol_;
+ double compose_resol_;
+ double conf_thresh_;
+ bool horiz_stright_;
+ Ptr<detail::FeaturesFinder> features_finder_;
+ Ptr<detail::FeaturesMatcher> features_matcher_;
+ Ptr<WarperCreator> warper_;
+ Ptr<detail::ExposureCompensator> exposure_comp_;
+ Ptr<detail::SeamFinder> seam_finder_;
+ Ptr<detail::Blender> blender_;
+};
+
+} // namespace cv
+
+#endif // __OPENCV_STITCHING_STITCHER_HPP__
--- /dev/null
+/*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*/
+
+#ifndef __OPENCV_STITCHING_WARPER_CREATORS_HPP__
+#define __OPENCV_STITCHING_WARPER_CREATORS_HPP__
+
+#include "detail/warpers.hpp"
+
+namespace cv {
+
+class WarperCreator
+{
+public:
+ virtual ~WarperCreator() {}
+ virtual Ptr<detail::Warper> createByFocalLength(double f) const = 0;
+};
+
+
+class PlaneWarper : public WarperCreator
+{
+public:
+ Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::PlaneWarper(f); }
+};
+
+
+class CylindricalWarper: public WarperCreator
+{
+public:
+ Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::CylindricalWarper(f); }
+};
+
+
+class SphericalWarper: public WarperCreator
+{
+public:
+ Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::SphericalWarper(f); }
+};
+
+
+#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__
num_layers_descr_ = num_layers_descr;\r
}\r
\r
- void releaseMemory();\r
+ void collectGarbage();\r
\r
protected:\r
void find(const Mat &image, ImageFeatures &features);\r
descriptors_.download(features.descriptors);\r
}\r
\r
-void GpuSurfFeaturesFinder::releaseMemory()\r
+void GpuSurfFeaturesFinder::collectGarbage()\r
{\r
surf_.releaseMemory();\r
image_.release();\r
GpuMatcher(float match_conf) : match_conf_(match_conf) {}\r
void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info);\r
\r
- void releaseMemory();\r
+ void collectGarbage();\r
\r
private:\r
float match_conf_;\r
}\r
}\r
\r
-void GpuMatcher::releaseMemory()\r
+void GpuMatcher::collectGarbage()\r
{\r
descriptors1_.release();\r
descriptors2_.release();\r
}\r
\r
\r
-void SurfFeaturesFinder::releaseMemory()\r
+void SurfFeaturesFinder::collectGarbage()\r
{\r
- impl_->releaseMemory();\r
+ impl_->collectGarbage();\r
}\r
\r
\r
matches_info.H = findHomography(src_points, dst_points, CV_RANSAC);\r
}\r
\r
-void BestOf2NearestMatcher::releaseMemory()\r
+void BestOf2NearestMatcher::collectGarbage()\r
{\r
- impl_->releaseMemory();\r
+ impl_->collectGarbage();\r
}\r
\r
} // namespace detail\r
// the use of this software, even if advised of the possibility of such damage.\r
//\r
//M*/\r
+\r
#ifndef __OPENCV_STITCHING_PRECOMP_H__\r
#define __OPENCV_STITCHING_PRECOMP_H__\r
\r
#include <set>\r
#include <functional>\r
#include <sstream>\r
+#include <cmath>\r
+#include "opencv2/stitching/stitcher.hpp"\r
#include "opencv2/stitching/detail/autocalib.hpp"\r
#include "opencv2/stitching/detail/blenders.hpp"\r
#include "opencv2/stitching/detail/camera.hpp"\r
--- /dev/null
+/*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
// the use of this software, even if advised of the possibility of such damage.\r
//\r
//M*/\r
+\r
#include "precomp.hpp"\r
\r
using namespace std;\r
// 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)
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")
+ else if (string(argv[i]) == "--output")
{
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")
+ else
{
- 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
+ Mat img = imread(argv[i]);
+ if (img.empty())
{
- cout << "Bad blending method\n";
+ cout << "Can't read image '" << argv[i] << "'\n";
return -1;
}
- i++;
- }
- else if (string(argv[i]) == "--blend_strength")
- {
- blend_strength = static_cast<float>(atof(argv[i + 1]));
- i++;
+ imgs.push_back(img);
}
- 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;
+ if (retval) return -1;
- vector<Mat> images(num_images);
- vector<Size> full_img_sizes(num_images);
- double seam_work_aspect = 1;
+ Mat pano;
+ Stitcher stitcher = Stitcher::createDefault(try_use_gpu);
+ Stitcher::Status status = stitcher.stitch(imgs, pano);
- for (int i = 0; i < num_images; ++i)
+ if (status != Stitcher::OK)
{
- 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");
+ cout << "Can't stitch images, error code = " << status << endl;
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;
}
--- /dev/null
+/*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;
+}
+
+
projects / profile / ivi / opencv.git / commitdiff