opencv/modules/stitching/include/opencv2/stitching/stitcher.hpp

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#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/motion_estimators.hpp"
#include "detail/exposure_compensate.hpp"
#include "detail/seam_finders.hpp"
#include "detail/blenders.hpp"
#include "detail/camera.hpp"

namespace cv {

class CV_EXPORTS 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 waveCorrection() const { return do_wave_correct_; }
    void setWaveCorrection(bool flag) { do_wave_correct_ = flag; }

    detail::WaveCorrectKind waveCorrectKind() const { return wave_correct_kind_; }
    void setWaveCorrectKind(detail::WaveCorrectKind kind) { wave_correct_kind_ = kind; }

    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<detail::BundleAdjusterBase> bundleAdjuster() { return bundle_adjuster_; }
    const Ptr<detail::BundleAdjusterBase> bundleAdjuster() const { return bundle_adjuster_; }
    void setBundleAdjuster(Ptr<detail::BundleAdjusterBase> bundle_adjuster)
        { bundle_adjuster_ = bundle_adjuster; }

    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() {}

    Status matchImages();
    void estimateCameraParams();
    Status composePanorama(cv::Mat &pano);

    double registr_resol_;
    double seam_est_resol_;
    double compose_resol_;
    double conf_thresh_;
    Ptr<detail::FeaturesFinder> features_finder_;
    Ptr<detail::FeaturesMatcher> features_matcher_;
    Ptr<detail::BundleAdjusterBase> bundle_adjuster_;
    bool do_wave_correct_;
    detail::WaveCorrectKind wave_correct_kind_;
    Ptr<WarperCreator> warper_;
    Ptr<detail::ExposureCompensator> exposure_comp_;
    Ptr<detail::SeamFinder> seam_finder_;
    Ptr<detail::Blender> blender_;

    std::vector<cv::Mat> imgs_;
    std::vector<cv::Size> full_img_sizes_;
    std::vector<detail::ImageFeatures> features_;
    std::vector<detail::MatchesInfo> pairwise_matches_;
    std::vector<cv::Mat> seam_est_imgs_;
    std::vector<int> indices_;
    std::vector<detail::CameraParams> cameras_;
    double work_scale_;
    double seam_scale_;
    double seam_work_aspect_;
    double warped_image_scale_;
};

} // namespace cv

#endif // __OPENCV_STITCHING_STITCHER_HPP__