OpenCV18（图像拼接stitcher_detail）

最新推荐文章于 2024-02-05 09:11:40 发布

Hustudent20080101

最新推荐文章于 2024-02-05 09:11:40 发布

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分类专栏： OpenCV图像处理

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从OpenCV2.4.0之后的版本中都包含有一个图像拼接的例程。路径：“...\OpenCV\sources\samples\cpp\stitcher_detail.cpp”

本文就网上基于图像拼接的例程代码总结一下，基本上都是由此修改而来。以下给出原代，以及一个简单版本的例程。

1.一个简单的例子（易于理解）

[cpp] view plain copy print ?

#include "stdafx.h"
#include <iostream>
#include <fstream>
#include <opencv2/core/core.hpp>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/stitching/stitcher.hpp"
using namespace std;
using namespace cv;
bool try_use_gpu = false;
vector<Mat> imgs;
string result_name = "result.jpg";
int main()
{
Mat img1=imread("1.jpg");
Mat img2=imread("2.jpg");
imgs.push_back(img1);
imgs.push_back(img2);
Mat pano;
Stitcher stitcher = Stitcher::createDefault(try_use_gpu);//关键语句一
Stitcher::Status status = stitcher.stitch(imgs, pano);//关键语句二
if (status != Stitcher::OK)
{
cout << "Can't stitch images, error code = " << status << endl;
return -1;
}
namedWindow(result_name);
imshow(result_name,pano);
imwrite(result_name,pano);
waitKey();
return 0;
}

#include "stdafx.h"
#include <iostream>
#include <fstream>
#include <opencv2/core/core.hpp>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/stitching/stitcher.hpp"
 
using namespace std;
using namespace cv;
 
bool try_use_gpu = false;
vector<Mat> imgs;
string result_name = "result.jpg";
 
int main()
{
    Mat img1=imread("1.jpg");
    Mat img2=imread("2.jpg");
    imgs.push_back(img1);
    imgs.push_back(img2);
    Mat pano;
    Stitcher stitcher = Stitcher::createDefault(try_use_gpu);//关键语句一
    Stitcher::Status status = stitcher.stitch(imgs, pano);//关键语句二
    if (status != Stitcher::OK)
    {
        cout << "Can't stitch images, error code = " << status << endl;
        return -1;
    }
    namedWindow(result_name);
    imshow(result_name,pano);
    imwrite(result_name,pano);
    waitKey();
    return 0;
}

注意事项：

1.图像可以多幅，但是建议先两幅

2.图像之间的重合度要高一点

3.图像的大小建议一样，不一样的还没测试

问题解决：

1.问题描述：

1>stitch.obj : error LNK2019: 无法解析的外部符号 "public: static class cv::Stitcher __cdecl cv::Stitcher::createDefault(bool)" (?createDefault@Stitcher@cv@@SA?AV12@_N@Z)，该符号在函数 _main 中被引用
1>stitch.obj : error LNK2019: 无法解析的外部符号 "public: enum cv::Stitcher::Status __thiscall cv::Stitcher::stitch(class cv::_InputArray const &,class cv::_OutputArray const &)" (?stitch@Stitcher@cv@@QAE?AW4Status@12@ABV_InputArray@2@ABV_OutputArray@2@@Z)，该符号在函数 _main 中被引用

这种错误出在配置上，缺少opencv_stitching294.lib，这个不常用，在opencv配置教程中一般都没有包含。

解决方法

在属性中（我原来是用属性管理器中配置opencv的）

找不到的话，在下图中输入“属性”，点击属性管理器

在连接器中（link）->输入->附加依赖项，添加“opencv_stitching249d.lib”（看你的版本了）。如果你是用debug，不要添加opencv_stitching249.lib（没有d）。这里还涉及一个问题，见4中的描述

4.问题描述

Stitcher::Status status = stitcher.stitch(imgs, pano);//关键语句二运行出错 | vector访问出错 | vector小标越界 | 程序中断如下 | 0x00000005错误

解决方法

原因还是在OpenCV的配置上。如果你是debug，将属性管理器中的所有不带d的lib文件都删去（建议你放记事本里备份）。如果是release，就把带d的都删去。

测试发现，平时使用的时候，会在属性管理器的“Microsoft.Cpp.Win32.user”中加上带d和不带d的lib，这样就不需要每个工程都配置opencv了。

但是debug中的“Microsoft.Cpp.Win32.user”和release中的是同一个，会相互影响，修改哪一个中的都不行，于是全部添加上。相信有很多人都是这样的，所以这个问题应该是很多人都会遇到的吧。改过了就可以了。

最后注意一下，拼接成功的概率不高，应该是代码还不够优化吧。只要通过了“关键代码二”，基本配置上就不会有问题了。剩下的就要自己调参数了。

2.一个截图程序

（稍后附上）

3.源代码（复制过来的）

[cpp] view plain copy print ?

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#include <iostream>
#include <fstream>
#include <string>
#include "opencv2/opencv_modules.hpp"
#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/warpers.hpp"
using namespace std;
using namespace cv;
using namespace cv::detail;
static 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"
" --features (surf|orb)\n"
" Type of features used for images matching. The default is surf.\n"
" --match_conf <float>\n"
" Confidence for feature matching step. The default is 0.65 for surf and 0.3 for orb.\n"
" --conf_thresh <float>\n"
" Threshold for two images are from the same panorama confidence.\n"
" The default is 1.0.\n"
" --ba (reproj|ray)\n"
" Bundle adjustment cost function. The default is ray.\n"
" --ba_refine_mask (mask)\n"
" Set refinement mask for bundle adjustment. It looks like 'x_xxx',\n"
" where 'x' means refine respective parameter and '_' means don't\n"
" refine one, and has the following format:\n"
" <fx><skew><ppx><aspect><ppy>. The default mask is 'xxxxx'. If bundle\n"
" adjustment doesn't support estimation of selected parameter then\n"
" the respective flag is ignored.\n"
" --wave_correct (no|horiz|vert)\n"
" Perform wave effect correction. The default is 'horiz'.\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|fisheye|stereographic|compressedPlaneA2B1|compressedPlaneA1.5B1|compressedPlanePortraitA2B1|compressedPlanePortraitA1.5B1|paniniA2B1|paniniA1.5B1|paniniPortraitA2B1|paniniPortraitA1.5B1|mercator|transverseMercator)\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;
float conf_thresh = 1.f;
string features_type = "surf";
string ba_cost_func = "ray";
string ba_refine_mask = "xxxxx";
bool do_wave_correct = true;
WaveCorrectKind wave_correct = detail::WAVE_CORRECT_HORIZ;
bool save_graph = false;
std::string save_graph_to;
string warp_type = "spherical";
int expos_comp_type = ExposureCompensator::GAIN_BLOCKS;
float match_conf = 0.3f;
string seam_find_type = "gc_color";
int blend_type = Blender::MULTI_BAND;
float blend_strength = 5;
string result_name = "result.jpg";
static 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]) == "--features")
{
features_type = argv[i + 1];
if (features_type == "orb")
match_conf = 0.3f;
i++;
}
else if (string(argv[i]) == "--match_conf")
{
match_conf = static_cast<float>(atof(argv[i + 1]));
i++;
}
else if (string(argv[i]) == "--conf_thresh")
{
conf_thresh = static_cast<float>(atof(argv[i + 1]));
i++;
}
else if (string(argv[i]) == "--ba")
{
ba_cost_func = argv[i + 1];
i++;
}
else if (string(argv[i]) == "--ba_refine_mask")
{
ba_refine_mask = argv[i + 1];
if (ba_refine_mask.size() != 5)
{
cout << "Incorrect refinement mask length.\n";
return -1;
}
i++;
}
else if (string(argv[i]) == "--wave_correct")
{
if (string(argv[i + 1]) == "no")
do_wave_correct = false;
else if (string(argv[i + 1]) == "horiz")
{
do_wave_correct = true;
wave_correct = detail::WAVE_CORRECT_HORIZ;
}
else if (string(argv[i + 1]) == "vert")
{
do_wave_correct = true;
wave_correct = detail::WAVE_CORRECT_VERT;
}
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")
{
warp_type = string(argv[i + 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" ||
string(argv[i + 1]) == "voronoi" ||
string(argv[i + 1]) == "gc_color" ||
string(argv[i + 1]) == "gc_colorgrad" ||
string(argv[i + 1]) == "dp_color" ||
string(argv[i + 1]) == "dp_colorgrad")
seam_find_type = argv[i + 1];
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[])
{
#if ENABLE_LOG
int64 app_start_time = getTickCount();
#endif
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...");
#if ENABLE_LOG
int64 t = getTickCount();
#endif
Ptr<FeaturesFinder> finder;
if (features_type == "surf")
{
#if defined(HAVE_OPENCV_NONFREE) && defined(HAVE_OPENCV_GPU)
if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
finder = new SurfFeaturesFinderGpu();
else
#endif
finder = new SurfFeaturesFinder();
}
else if (features_type == "orb")
{
finder = new OrbFeaturesFinder();
}
else
{
cout << "Unknown 2D features type: '" << features_type << "'.\n";
return -1;
}
Mat full_img, img;
vector<ImageFeatures> features(num_images);
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");
#if ENABLE_LOG
t = getTickCount();
#endif
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 intrinsics #" << indices[i]+1 << ":\n" << cameras[i].K());
}
Ptr<detail::BundleAdjusterBase> adjuster;
if (ba_cost_func == "reproj") adjuster = new detail::BundleAdjusterReproj();
else if (ba_cost_func == "ray") adjuster = new detail::BundleAdjusterRay();
else
{
cout << "Unknown bundle adjustment cost function: '" << ba_cost_func << "'.\n";
return -1;
}
adjuster->setConfThresh(conf_thresh);
Mat_<uchar> refine_mask = Mat::zeros(3, 3, CV_8U);
if (ba_refine_mask[0] == 'x') refine_mask(0,0) = 1;
if (ba_refine_mask[1] == 'x') refine_mask(0,1) = 1;
if (ba_refine_mask[2] == 'x') refine_mask(0,2) = 1;
if (ba_refine_mask[3] == 'x') refine_mask(1,1) = 1;
if (ba_refine_mask[4] == 'x') refine_mask(1,2) = 1;
adjuster->setRefinementMask(refine_mask);
(*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 << ":\n" << cameras[i].K());
focals.push_back(cameras[i].focal);
}
sort(focals.begin(), focals.end());
float warped_image_scale;
if (focals.size() % 2 == 1)
warped_image_scale = static_cast<float>(focals[focals.size() / 2]);
else
warped_image_scale = static_cast<float>(focals[focals.size() / 2 - 1] + focals[focals.size() / 2]) * 0.5f;
if (do_wave_correct)
{
vector<Mat> rmats;
for (size_t i = 0; i < cameras.size(); ++i)
rmats.push_back(cameras[i].R);
waveCorrect(rmats, wave_correct);
for (size_t i = 0; i < cameras.size(); ++i)
cameras[i].R = rmats[i];
}
LOGLN("Warping images (auxiliary)... ");
#if ENABLE_LOG
t = getTickCount();
#endif
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<WarperCreator> warper_creator;
#if defined(HAVE_OPENCV_GPU)
if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
{
if (warp_type == "plane") warper_creator = new cv::PlaneWarperGpu();
else if (warp_type == "cylindrical") warper_creator = new cv::CylindricalWarperGpu();
else if (warp_type == "spherical") warper_creator = new cv::SphericalWarperGpu();
}
else
#endif
{
if (warp_type == "plane") warper_creator = new cv::PlaneWarper();
else if (warp_type == "cylindrical") warper_creator = new cv::CylindricalWarper();
else if (warp_type == "spherical") warper_creator = new cv::SphericalWarper();
else if (warp_type == "fisheye") warper_creator = new cv::FisheyeWarper();
else if (warp_type == "stereographic") warper_creator = new cv::StereographicWarper();
else if (warp_type == "compressedPlaneA2B1") warper_creator = new cv::CompressedRectilinearWarper(2, 1);
else if (warp_type == "compressedPlaneA1.5B1") warper_creator = new cv::CompressedRectilinearWarper(1.5, 1);
else if (warp_type == "compressedPlanePortraitA2B1") warper_creator = new cv::CompressedRectilinearPortraitWarper(2, 1);
else if (warp_type == "compressedPlanePortraitA1.5B1") warper_creator = new cv::CompressedRectilinearPortraitWarper(1.5, 1);
else if (warp_type == "paniniA2B1") warper_creator = new cv::PaniniWarper(2, 1);
else if (warp_type == "paniniA1.5B1") warper_creator = new cv::PaniniWarper(1.5, 1);
else if (warp_type == "paniniPortraitA2B1") warper_creator = new cv::PaniniPortraitWarper(2, 1);
else if (warp_type == "paniniPortraitA1.5B1") warper_creator = new cv::PaniniPortraitWarper(1.5, 1);
else if (warp_type == "mercator") warper_creator = new cv::MercatorWarper();
else if (warp_type == "transverseMercator") warper_creator = new cv::TransverseMercatorWarper();
}
if (warper_creator.empty())
{
cout << "Can't create the following warper '" << warp_type << "'\n";
return 1;
}
Ptr<RotationWarper> warper = warper_creator->create(static_cast<float>(warped_image_scale * seam_work_aspect));
for (int i = 0; i < num_images; ++i)
{
Mat_<float> K;
cameras[i].K().convertTo(K, CV_32F);
float swa = (float)seam_work_aspect;
K(0,0) *= swa; K(0,2) *= swa;
K(1,1) *= swa; K(1,2) *= swa;
corners[i] = warper->warp(images[i], K, cameras[i].R, INTER_LINEAR, BORDER_REFLECT, images_warped[i]);
sizes[i] = images_warped[i].size();
warper->warp(masks[i], K, cameras[i].R, INTER_NEAREST, BORDER_CONSTANT, masks_warped[i]);
}
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;
if (seam_find_type == "no")
seam_finder = new detail::NoSeamFinder();
else if (seam_find_type == "voronoi")
seam_finder = new detail::VoronoiSeamFinder();
else if (seam_find_type == "gc_color")
{
#if defined(HAVE_OPENCV_GPU)
if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
seam_finder = new detail::GraphCutSeamFinderGpu(GraphCutSeamFinderBase::COST_COLOR);
else
#endif
seam_finder = new detail::GraphCutSeamFinder(GraphCutSeamFinderBase::COST_COLOR);
}
else if (seam_find_type == "gc_colorgrad")
{
#if defined(HAVE_OPENCV_GPU)
if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
seam_finder = new detail::GraphCutSeamFinderGpu(GraphCutSeamFinderBase::COST_COLOR_GRAD);
else
#endif
seam_finder = new detail::GraphCutSeamFinder(GraphCutSeamFinderBase::COST_COLOR_GRAD);
}
else if (seam_find_type == "dp_color")
seam_finder = new detail::DpSeamFinder(DpSeamFinder::COLOR);
else if (seam_find_type == "dp_colorgrad")
seam_finder = new detail::DpSeamFinder(DpSeamFinder::COLOR_GRAD);
if (seam_finder.empty())
{
cout << "Can't create the following seam finder '" << seam_find_type << "'\n";
return 1;
}
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...");
#if ENABLE_LOG
t = getTickCount();
#endif
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_creator->create(warped_image_scale);
// Update corners and sizes
for (int i = 0; i < num_images; ++i)
{
// Update intrinsics
cameras[i].focal *= compose_work_aspect;
cameras[i].ppx *= compose_work_aspect;
cameras[i].ppy *= 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);
}
Mat K;
cameras[i].K().convertTo(K, CV_32F);
Rect roi = warper->warpRoi(sz, K, 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();
Mat K;
cameras[img_idx].K().convertTo(K, CV_32F);
// Warp the current image
warper->warp(img, K, cameras[img_idx].R, INTER_LINEAR, BORDER_REFLECT, img_warped);
// Warp the current image mask
mask.create(img_size, CV_8U);
mask.setTo(Scalar::all(255));
warper->warp(mask, K, cameras[img_idx].R, INTER_NEAREST, BORDER_CONSTANT, mask_warped);
// 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;
}

/*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 <iostream>
#include <fstream>
#include <string>
#include "opencv2/opencv_modules.hpp"
#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/warpers.hpp"

using namespace std;
using namespace cv;
using namespace cv::detail;

static 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"
        "  --features (surf|orb)\n"
        "      Type of features used for images matching. The default is surf.\n"
        "  --match_conf <float>\n"
        "      Confidence for feature matching step. The default is 0.65 for surf and 0.3 for orb.\n"
        "  --conf_thresh <float>\n"
        "      Threshold for two images are from the same panorama confidence.\n"
        "      The default is 1.0.\n"
        "  --ba (reproj|ray)\n"
        "      Bundle adjustment cost function. The default is ray.\n"
        "  --ba_refine_mask (mask)\n"
        "      Set refinement mask for bundle adjustment. It looks like 'x_xxx',\n"
        "      where 'x' means refine respective parameter and '_' means don't\n"
        "      refine one, and has the following format:\n"
        "      <fx><skew><ppx><aspect><ppy>. The default mask is 'xxxxx'. If bundle\n"
        "      adjustment doesn't support estimation of selected parameter then\n"
        "      the respective flag is ignored.\n"
        "  --wave_correct (no|horiz|vert)\n"
        "      Perform wave effect correction. The default is 'horiz'.\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|fisheye|stereographic|compressedPlaneA2B1|compressedPlaneA1.5B1|compressedPlanePortraitA2B1|compressedPlanePortraitA1.5B1|paniniA2B1|paniniA1.5B1|paniniPortraitA2B1|paniniPortraitA1.5B1|mercator|transverseMercator)\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;
float conf_thresh = 1.f;
string features_type = "surf";
string ba_cost_func = "ray";
string ba_refine_mask = "xxxxx";
bool do_wave_correct = true;
WaveCorrectKind wave_correct = detail::WAVE_CORRECT_HORIZ;
bool save_graph = false;
std::string save_graph_to;
string warp_type = "spherical";
int expos_comp_type = ExposureCompensator::GAIN_BLOCKS;
float match_conf = 0.3f;
string seam_find_type = "gc_color";
int blend_type = Blender::MULTI_BAND;
float blend_strength = 5;
string result_name = "result.jpg";

static 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]) == "--features")
        {
            features_type = argv[i + 1];
            if (features_type == "orb")
                match_conf = 0.3f;
            i++;
        }
        else if (string(argv[i]) == "--match_conf")
        {
            match_conf = static_cast<float>(atof(argv[i + 1]));
            i++;
        }
        else if (string(argv[i]) == "--conf_thresh")
        {
            conf_thresh = static_cast<float>(atof(argv[i + 1]));
            i++;
        }
        else if (string(argv[i]) == "--ba")
        {
            ba_cost_func = argv[i + 1];
            i++;
        }
        else if (string(argv[i]) == "--ba_refine_mask")
        {
            ba_refine_mask = argv[i + 1];
            if (ba_refine_mask.size() != 5)
            {
                cout << "Incorrect refinement mask length.\n";
                return -1;
            }
            i++;
        }
        else if (string(argv[i]) == "--wave_correct")
        {
            if (string(argv[i + 1]) == "no")
                do_wave_correct = false;
            else if (string(argv[i + 1]) == "horiz")
            {
                do_wave_correct = true;
                wave_correct = detail::WAVE_CORRECT_HORIZ;
            }
            else if (string(argv[i + 1]) == "vert")
            {
                do_wave_correct = true;
                wave_correct = detail::WAVE_CORRECT_VERT;
            }
            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")
        {
            warp_type = string(argv[i + 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" ||
                string(argv[i + 1]) == "voronoi" ||
                string(argv[i + 1]) == "gc_color" ||
                string(argv[i + 1]) == "gc_colorgrad" ||
                string(argv[i + 1]) == "dp_color" ||
                string(argv[i + 1]) == "dp_colorgrad")
                seam_find_type = argv[i + 1];
            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[])
{
#if ENABLE_LOG
    int64 app_start_time = getTickCount();
#endif

    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...");
#if ENABLE_LOG
    int64 t = getTickCount();
#endif

    Ptr<FeaturesFinder> finder;
    if (features_type == "surf")
    {
#if defined(HAVE_OPENCV_NONFREE) && defined(HAVE_OPENCV_GPU)
        if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
            finder = new SurfFeaturesFinderGpu();
        else
#endif
            finder = new SurfFeaturesFinder();
    }
    else if (features_type == "orb")
    {
        finder = new OrbFeaturesFinder();
    }
    else
    {
        cout << "Unknown 2D features type: '" << features_type << "'.\n";
        return -1;
    }

    Mat full_img, img;
    vector<ImageFeatures> features(num_images);
    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");
#if ENABLE_LOG
    t = getTickCount();
#endif
    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 intrinsics #" << indices[i]+1 << ":\n" << cameras[i].K());
    }

    Ptr<detail::BundleAdjusterBase> adjuster;
    if (ba_cost_func == "reproj") adjuster = new detail::BundleAdjusterReproj();
    else if (ba_cost_func == "ray") adjuster = new detail::BundleAdjusterRay();
    else
    {
        cout << "Unknown bundle adjustment cost function: '" << ba_cost_func << "'.\n";
        return -1;
    }
    adjuster->setConfThresh(conf_thresh);
    Mat_<uchar> refine_mask = Mat::zeros(3, 3, CV_8U);
    if (ba_refine_mask[0] == 'x') refine_mask(0,0) = 1;
    if (ba_refine_mask[1] == 'x') refine_mask(0,1) = 1;
    if (ba_refine_mask[2] == 'x') refine_mask(0,2) = 1;
    if (ba_refine_mask[3] == 'x') refine_mask(1,1) = 1;
    if (ba_refine_mask[4] == 'x') refine_mask(1,2) = 1;
    adjuster->setRefinementMask(refine_mask);
    (*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 << ":\n" << cameras[i].K());
        focals.push_back(cameras[i].focal);
    }

    sort(focals.begin(), focals.end());
    float warped_image_scale;
    if (focals.size() % 2 == 1)
        warped_image_scale = static_cast<float>(focals[focals.size() / 2]);
    else
        warped_image_scale = static_cast<float>(focals[focals.size() / 2 - 1] + focals[focals.size() / 2]) * 0.5f;

    if (do_wave_correct)
    {
        vector<Mat> rmats;
        for (size_t i = 0; i < cameras.size(); ++i)
            rmats.push_back(cameras[i].R);
        waveCorrect(rmats, wave_correct);
        for (size_t i = 0; i < cameras.size(); ++i)
            cameras[i].R = rmats[i];
    }

    LOGLN("Warping images (auxiliary)... ");
#if ENABLE_LOG
    t = getTickCount();
#endif

    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<WarperCreator> warper_creator;
#if defined(HAVE_OPENCV_GPU)
    if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
    {
        if (warp_type == "plane") warper_creator = new cv::PlaneWarperGpu();
        else if (warp_type == "cylindrical") warper_creator = new cv::CylindricalWarperGpu();
        else if (warp_type == "spherical") warper_creator = new cv::SphericalWarperGpu();
    }
    else
#endif
    {
        if (warp_type == "plane") warper_creator = new cv::PlaneWarper();
        else if (warp_type == "cylindrical") warper_creator = new cv::CylindricalWarper();
        else if (warp_type == "spherical") warper_creator = new cv::SphericalWarper();
        else if (warp_type == "fisheye") warper_creator = new cv::FisheyeWarper();
        else if (warp_type == "stereographic") warper_creator = new cv::StereographicWarper();
        else if (warp_type == "compressedPlaneA2B1") warper_creator = new cv::CompressedRectilinearWarper(2, 1);
        else if (warp_type == "compressedPlaneA1.5B1") warper_creator = new cv::CompressedRectilinearWarper(1.5, 1);
        else if (warp_type == "compressedPlanePortraitA2B1") warper_creator = new cv::CompressedRectilinearPortraitWarper(2, 1);
        else if (warp_type == "compressedPlanePortraitA1.5B1") warper_creator = new cv::CompressedRectilinearPortraitWarper(1.5, 1);
        else if (warp_type == "paniniA2B1") warper_creator = new cv::PaniniWarper(2, 1);
        else if (warp_type == "paniniA1.5B1") warper_creator = new cv::PaniniWarper(1.5, 1);
        else if (warp_type == "paniniPortraitA2B1") warper_creator = new cv::PaniniPortraitWarper(2, 1);
        else if (warp_type == "paniniPortraitA1.5B1") warper_creator = new cv::PaniniPortraitWarper(1.5, 1);
        else if (warp_type == "mercator") warper_creator = new cv::MercatorWarper();
        else if (warp_type == "transverseMercator") warper_creator = new cv::TransverseMercatorWarper();
    }

    if (warper_creator.empty())
    {
        cout << "Can't create the following warper '" << warp_type << "'\n";
        return 1;
    }

    Ptr<RotationWarper> warper = warper_creator->create(static_cast<float>(warped_image_scale * seam_work_aspect));

    for (int i = 0; i < num_images; ++i)
    {
        Mat_<float> K;
        cameras[i].K().convertTo(K, CV_32F);
        float swa = (float)seam_work_aspect;
        K(0,0) *= swa; K(0,2) *= swa;
        K(1,1) *= swa; K(1,2) *= swa;

        corners[i] = warper->warp(images[i], K, cameras[i].R, INTER_LINEAR, BORDER_REFLECT, images_warped[i]);
        sizes[i] = images_warped[i].size();

        warper->warp(masks[i], K, cameras[i].R, INTER_NEAREST, BORDER_CONSTANT, masks_warped[i]);
    }

    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;
    if (seam_find_type == "no")
        seam_finder = new detail::NoSeamFinder();
    else if (seam_find_type == "voronoi")
        seam_finder = new detail::VoronoiSeamFinder();
    else if (seam_find_type == "gc_color")
    {
#if defined(HAVE_OPENCV_GPU)
        if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
            seam_finder = new detail::GraphCutSeamFinderGpu(GraphCutSeamFinderBase::COST_COLOR);
        else
#endif
            seam_finder = new detail::GraphCutSeamFinder(GraphCutSeamFinderBase::COST_COLOR);
    }
    else if (seam_find_type == "gc_colorgrad")
    {
#if defined(HAVE_OPENCV_GPU)
        if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
            seam_finder = new detail::GraphCutSeamFinderGpu(GraphCutSeamFinderBase::COST_COLOR_GRAD);
        else
#endif
            seam_finder = new detail::GraphCutSeamFinder(GraphCutSeamFinderBase::COST_COLOR_GRAD);
    }
    else if (seam_find_type == "dp_color")
        seam_finder = new detail::DpSeamFinder(DpSeamFinder::COLOR);
    else if (seam_find_type == "dp_colorgrad")
        seam_finder = new detail::DpSeamFinder(DpSeamFinder::COLOR_GRAD);
    if (seam_finder.empty())
    {
        cout << "Can't create the following seam finder '" << seam_find_type << "'\n";
        return 1;
    }

    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...");
#if ENABLE_LOG
    t = getTickCount();
#endif

    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_creator->create(warped_image_scale);

            // Update corners and sizes
            for (int i = 0; i < num_images; ++i)
            {
                // Update intrinsics
                cameras[i].focal *= compose_work_aspect;
                cameras[i].ppx *= compose_work_aspect;
                cameras[i].ppy *= 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);
                }

                Mat K;
                cameras[i].K().convertTo(K, CV_32F);
                Rect roi = warper->warpRoi(sz, K, 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();

        Mat K;
        cameras[img_idx].K().convertTo(K, CV_32F);

        // Warp the current image
        warper->warp(img, K, cameras[img_idx].R, INTER_LINEAR, BORDER_REFLECT, img_warped);

        // Warp the current image mask
        mask.create(img_size, CV_8U);
        mask.setTo(Scalar::all(255));
        warper->warp(mask, K, cameras[img_idx].R, INTER_NEAREST, BORDER_CONSTANT, mask_warped);

        // 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;
}

上一篇OpenCV17（图像二维频谱的理解，傅里叶频谱分析）
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Hustudent20080101

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OpenCV18（图像拼接stitcher_detail）

从OpenCV2.4.0之后的版本中都包含有一个图像拼接的例程。路径：“...\OpenCV\sources\samples\cpp\stitcher_detail.cpp”本文就网上基于图像拼接的例程代码总结一下，基本上都是由此修改而来。以下给出原代，以及一个简单版本的例程。1.一个简单的例子（易于理解）[cpp] view plain copy pr
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