图像拼接（二）：柱面投影+模板匹配+渐入渐出融合（GPU版）

本篇博客的代码修改自图像拼接（一）：柱面投影+模板匹配+渐入渐出融合。新的代码充分利用了OpenCV库函数的GPU版本。在一些方法中使用了GpuMat这一数据结构，它是Mat的替代。Mat运行在CPU上，GpuMat运行在GPU上，使用这一数据结构，将一些费时的操作交由GPU处理，会提高处理速度。
文末附有完整代码清单，这里对代码做些说明：
1、使用OpenCV的GPU版本，需要重新编译OpenCV库；
2、在使用的时候初始化GPU的代码如下：

//初始化GPU
    int num_devices = gpu::getCudaEnabledDeviceCount();
    if (num_devices <= 0)
    {
        cout << "there is no device." << endl;
        return -1;
    }
    int enable_devices_id = -1;
    for (int i = 0; i < num_devices; i++)
    {
        gpu::DeviceInfo dev_info(i);
        if (dev_info.isCompatible())
        {
            enable_devices_id = i;
        }
    }
    if (enable_devices_id < 0)
    {
        cerr << "GPU module is't for GPU!" << endl;
        return -1;
    }
    gpu::setDevice(enable_devices_id);
    gpu::resetDevice();

当OpenCV库并未配置GPU时,会出现报错：“there is no device”。
3、在模板匹配中使用了GPU，首先将Mat转换成GpuMat,例如gpu::GpuMat d_img(img);然后调用库函数的GPU版本，例如

gpu::matchTemplate(d_img, d_templ, d_result, CV_TM_CCORR_NORMED);
gpu::normalize(d_result, d_result, 0, 1, NORM_MINMAX, -1);
double minVal; double maxVal; Point minLoc; Point maxLoc; Point matchLoc;
gpu::minMaxLoc(d_result, &minVal, &maxVal, &minLoc, &maxLoc);

4、从实际运行的效果来看，使用GPU之后，首次运行启动的时间较慢。但对于视频图像处理，后面的每帧处理时间，相比没有GPU，会快很多。我在自己的笔记本电脑上测试的，显卡为nvidia Geforce 610m,性能相比现在的显卡水平比较落后的。最后提一点，将一些操作放置在GPU上运算，注意数据的排量，越大越适合。因为GPU和CPU之间数据的交换是消耗时间成本的。

修改后的完整代码：

#include<iostream>
#include<opencv2/opencv.hpp>
#include<opencv2/core/core.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/imgproc/imgproc.hpp>
#include<opencv2/gpu/gpu.hpp>


using namespace std;
using namespace cv;

Mat cylinder(Mat imgIn, int f);
Point2i getOffset(Mat img, Mat img1);
Mat linearStitch(Mat img, Mat img1, Point2i a);

int main()
{
    //初始化GPU
    int num_devices = gpu::getCudaEnabledDeviceCount();
    if (num_devices <= 0)
    {
        cout << "there is no device." << endl;
        return -1;
    }
    int enable_devices_id = -1;
    for (int i = 0; i < num_devices; i++)
    {
        gpu::DeviceInfo dev_info(i);
        if (dev_info.isCompatible())
        {
            enable_devices_id = i;
        }
    }
    if (enable_devices_id < 0)
    {
        cerr << "GPU module is't for GPU!" << endl;
        return -1;
    }
    gpu::setDevice(enable_devices_id);
    gpu::resetDevice();


    Mat img = imread("view1.bmp", 0);//左图像
    Mat img1 = imread("view2.bmp", 0);//右图像
    double t = (double)getTickCount();
    //柱形投影
    double t3 = (double)getTickCount();
    img = cylinder(img, 1000);
    img1 = cylinder(img1, 1000);
    t3 = ((double)getTickCount() - t3) / getTickFrequency();
    //匹配
    double t1 = (double)getTickCount();
    Point2i a = getOffset(img, img1);
    t1 = ((double)getTickCount() - t1) / getTickFrequency();
    //拼接
    double t2 = (double)getTickCount();
    Mat stitch = linearStitch(img, img1, a);
    t2 = ((double)getTickCount() - t2) / getTickFrequency();
    t = ((double)getTickCount() - t) / getTickFrequency();

    cout << "投影时间：" << t3 << '\n' << "匹配时间：" << t1 << '\n' << "拼接时间：" << t2 << endl;
    cout << "总时间" << t << endl;

    namedWindow("Image Left", CV_WINDOW_AUTOSIZE);
    namedWindow("Image Right", CV_WINDOW_AUTOSIZE);
    namedWindow("Result Window", CV_WINDOW_AUTOSIZE);
    imshow("Image Left", img);
    imshow("Image Right", img1);
    imshow("Result Window", stitch);
    waitKey(0);
    return 0;
}

Mat cylinder(Mat imgIn, int f)
{
    int colNum, rowNum;
    colNum = 2 * f*atan(0.5*imgIn.cols / f);//柱面图像宽
    rowNum = 0.5*imgIn.rows*f / sqrt(pow(f, 2)) + 0.5*imgIn.rows;//柱面图像高

    Mat imgOut = Mat::zeros(rowNum, colNum, CV_8UC1);
    Mat_<uchar> im1(imgIn);
    Mat_<uchar> im2(imgOut);

    //正向插值
    int x1(0), y1(0);
    for (int i = 0; i < imgIn.rows; i++)
        for (int j = 0; j < imgIn.cols; j++)
        {
            x1 = f*atan((j - 0.5*imgIn.cols) / f) + f*atan(0.5*imgIn.cols / f);
            y1 = f*(i - 0.5*imgIn.rows) / sqrt(pow(j - 0.5*imgIn.cols, 2) + pow(f, 2)) + 0.5*imgIn.rows;
            if (x1 >= 0 && x1 < colNum&&y1 >= 0 && y1<rowNum)
            {
                im2(y1, x1) = im1(i, j);
            }
        }
    return imgOut;
}
//模板匹配过程，OpenCV有GPU版
Point2i getOffset(Mat img, Mat img1)
{
    Mat templ(img1, Rect(0, 0.4*img1.rows, 0.2*img1.cols, 0.2*img1.rows));
    Mat result(img.cols - templ.cols + 1, img.rows - templ.rows + 1, CV_8UC1);//result存放匹配位置信息
    gpu::GpuMat d_img(img);
    gpu::GpuMat d_templ(templ);
    gpu::GpuMat d_result;
    gpu::matchTemplate(d_img, d_templ, d_result, CV_TM_CCORR_NORMED);
    gpu::normalize(d_result, d_result, 0, 1, NORM_MINMAX, -1);
    double minVal; double maxVal; Point minLoc; Point maxLoc; Point matchLoc;
    gpu::minMaxLoc(d_result, &minVal, &maxVal, &minLoc, &maxLoc);
    matchLoc = maxLoc;//获得最佳匹配位置
    int dx = matchLoc.x;
    int dy = matchLoc.y - 0.4*img1.rows;//右图像相对左图像的位移
    Point2i a(dx, dy);
    return a;
}


Mat linearStitch(Mat img, Mat img1, Point2i a)
{
    int d = img.cols - a.x;//过渡区宽度
    int ms = img.rows - abs(a.y);//拼接图行数
    int ns = img.cols + a.x;//拼接图列数
    Mat stitch = Mat::zeros(ms, ns, CV_8UC1);
    //拼接
    Mat_<uchar> ims(stitch);
    Mat_<uchar> im(img);
    Mat_<uchar> im1(img1);

    if (a.y >= 0)
    {
        Mat roi1(stitch, Rect(0, 0, a.x, ms));
        img(Range(a.y, img.rows), Range(0, a.x)).copyTo(roi1);
        Mat roi2(stitch, Rect(img.cols, 0, a.x, ms));
        img1(Range(0, ms), Range(d, img1.cols)).copyTo(roi2);
        for (int i = 0; i < ms; i++)
            for (int j = a.x; j < img.cols; j++)
                ims(i, j) = uchar((img.cols - j) / float(d)*im(i + a.y, j) + (j - a.x) / float(d)*im1(i, j - a.x));

    }
    else
    {
        Mat roi1(stitch, Rect(0, 0, a.x, ms));
        img(Range(0, ms), Range(0, a.x)).copyTo(roi1);
        Mat roi2(stitch, Rect(img.cols, 0, a.x, ms));
        img1(Range(-a.y, img.rows), Range(d, img1.cols)).copyTo(roi2);
        for (int i = 0; i < ms; i++)
            for (int j = a.x; j < img.cols; j++)
                ims(i, j) = uchar((img.cols - j) / float(d)*im(i, j) + (j - a.x) / float(d)*im1(i + abs(a.y), j - a.x));
    }
    return stitch;
}