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356 lines
12 KiB
C++
356 lines
12 KiB
C++
#include <opencv2/core/core.hpp>
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#include <opencv2/highgui/highgui.hpp>
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#include "util.hpp"
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#include "warpers.hpp"
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#include "blenders.hpp"
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#include "seam_finders.hpp"
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#include "motion_estimators.hpp"
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using namespace std;
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using namespace cv;
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void printUsage()
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{
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cout << "Rotation model images stitcher.\n\n";
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cout << "Usage: opencv_stitching img1 img2 [...imgN]\n"
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<< "\t[--trygpu (yes|no)]\n"
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<< "\t[--work_megapix <float>]\n"
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<< "\t[--compose_megapix <float>]\n"
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<< "\t[--matchconf <float>]\n"
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<< "\t[--ba (ray|focal_ray)]\n"
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<< "\t[--conf_thresh <float>]\n"
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<< "\t[--wavecorrect (no|yes)]\n"
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<< "\t[--warp (plane|cylindrical|spherical)]\n"
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<< "\t[--seam (no|voronoi|graphcut)]\n"
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<< "\t[--blend (no|feather|multiband)]\n"
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<< "\t[--output <result_img>]\n\n";
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cout << "--matchconf\n"
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<< "\tGood values are in [0.2, 0.8] range usually.\n\n";
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}
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int main(int argc, char* argv[])
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{
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int64 app_start_time = getTickCount();
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cv::setBreakOnError(true);
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vector<string> img_names;
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vector<Mat> images;
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bool trygpu = true;
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double work_megapix = 1;
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double compose_megapix = 1;
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int ba_space = BundleAdjuster::FOCAL_RAY_SPACE;
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float conf_thresh = 1.f;
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bool wave_correct = true;
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int warp_type = Warper::SPHERICAL;
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bool user_match_conf = false;
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float match_conf = 0.55f;
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int seam_find_type = SeamFinder::VORONOI;
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int blend_type = Blender::MULTI_BAND;
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string result_name = "result.png";
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double work_scale = -1, compose_scale = -1;
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bool is_work_scale_set = false, is_compose_scale_set = false;
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if (argc == 1)
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{
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printUsage();
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return 0;
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}
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for (int i = 1; i < argc; ++i)
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{
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if (string(argv[i]) == "--work_megapix")
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{
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work_megapix = atof(argv[i + 1]);
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break;
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}
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}
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int64 t = getTickCount();
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LOGLN("Parsing params and reading images...");
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for (int i = 1; i < argc; ++i)
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{
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if (string(argv[i]) == "--trygpu")
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{
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if (string(argv[i + 1]) == "no")
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trygpu = false;
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else if (string(argv[i + 1]) == "yes")
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trygpu = true;
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else
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{
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cout << "Bad --trygpu flag value\n";
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return -1;
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}
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i++;
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}
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else if (string(argv[i]) == "--work_megapix")
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i++;
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else if (string(argv[i]) == "--compose_megapix")
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{
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compose_megapix = atof(argv[i + 1]);
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i++;
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}
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else if (string(argv[i]) == "--result")
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{
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result_name = argv[i + 1];
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i++;
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}
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else if (string(argv[i]) == "--matchconf")
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{
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user_match_conf = true;
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match_conf = static_cast<float>(atof(argv[i + 1]));
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i++;
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}
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else if (string(argv[i]) == "--ba")
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{
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if (string(argv[i + 1]) == "ray")
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ba_space = BundleAdjuster::RAY_SPACE;
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else if (string(argv[i + 1]) == "focal_ray")
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ba_space = BundleAdjuster::FOCAL_RAY_SPACE;
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else
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{
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cout << "Bad bundle adjustment space\n";
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return -1;
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}
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i++;
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}
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else if (string(argv[i]) == "--conf_thresh")
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{
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conf_thresh = static_cast<float>(atof(argv[i + 1]));
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i++;
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}
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else if (string(argv[i]) == "--wavecorrect")
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{
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if (string(argv[i + 1]) == "no")
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wave_correct = false;
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else if (string(argv[i + 1]) == "yes")
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wave_correct = true;
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else
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{
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cout << "Bad --wavecorrect flag value\n";
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return -1;
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}
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i++;
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}
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else if (string(argv[i]) == "--warp")
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{
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if (string(argv[i + 1]) == "plane")
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warp_type = Warper::PLANE;
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else if (string(argv[i + 1]) == "cylindrical")
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warp_type = Warper::CYLINDRICAL;
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else if (string(argv[i + 1]) == "spherical")
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warp_type = Warper::SPHERICAL;
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else
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{
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cout << "Bad warping method\n";
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return -1;
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}
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i++;
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}
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else if (string(argv[i]) == "--seam")
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{
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if (string(argv[i + 1]) == "no")
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seam_find_type = SeamFinder::NO;
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else if (string(argv[i + 1]) == "voronoi")
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seam_find_type = SeamFinder::VORONOI;
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else if (string(argv[i + 1]) == "graphcut")
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seam_find_type = SeamFinder::GRAPH_CUT;
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else
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{
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cout << "Bad seam finding method\n";
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return -1;
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}
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i++;
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}
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else if (string(argv[i]) == "--blend")
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{
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if (string(argv[i + 1]) == "no")
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blend_type = Blender::NO;
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else if (string(argv[i + 1]) == "feather")
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blend_type = Blender::FEATHER;
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else if (string(argv[i + 1]) == "multiband")
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blend_type = Blender::MULTI_BAND;
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else
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{
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cout << "Bad blending method\n";
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return -1;
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}
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i++;
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}
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else if (string(argv[i]) == "--output")
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{
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result_name = argv[i + 1];
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i++;
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}
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else
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{
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img_names.push_back(argv[i]);
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Mat full_img = imread(argv[i]);
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if (full_img.empty())
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{
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cout << "Can't open image " << argv[i] << endl;
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return -1;
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}
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if (work_megapix < 0)
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images.push_back(full_img);
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else
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{
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if (!is_work_scale_set)
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{
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work_scale = min(1.0, sqrt(work_megapix * 1e6 / full_img.size().area()));
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is_work_scale_set = true;
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}
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Mat img;
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resize(full_img, img, Size(), work_scale, work_scale);
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images.push_back(img);
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}
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}
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}
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LOGLN("Parsing params and reading images, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
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int num_images = static_cast<int>(images.size());
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if (num_images < 2)
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{
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cout << "Need more images\n";
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return -1;
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}
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t = getTickCount();
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LOGLN("Finding features...");
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vector<ImageFeatures> features;
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SurfFeaturesFinder finder(trygpu);
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finder(images, features);
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LOGLN("Finding features, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
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t = getTickCount();
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LOGLN("Pairwise matching... ");
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vector<MatchesInfo> pairwise_matches;
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BestOf2NearestMatcher matcher(trygpu);
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if (user_match_conf)
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matcher = BestOf2NearestMatcher(trygpu, match_conf);
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matcher(images, features, pairwise_matches);
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LOGLN("Pairwise matching, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
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vector<int> indices = leaveBiggestComponent(images, features, pairwise_matches, conf_thresh);
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vector<string> img_names_subset;
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for (size_t i = 0; i < indices.size(); ++i)
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img_names_subset.push_back(img_names[indices[i]]);
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img_names = img_names_subset;
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num_images = static_cast<int>(images.size());
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if (num_images < 2)
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{
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cout << "Need more images\n";
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return -1;
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}
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t = getTickCount();
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LOGLN("Estimating rotations...");
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HomographyBasedEstimator estimator;
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vector<CameraParams> cameras;
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estimator(images, features, pairwise_matches, cameras);
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LOGLN("Estimating rotations, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
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for (size_t i = 0; i < cameras.size(); ++i)
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{
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Mat R;
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cameras[i].R.convertTo(R, CV_32F);
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cameras[i].R = R;
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LOGLN("Initial focal length " << i << ": " << cameras[i].focal);
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}
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t = getTickCount();
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LOGLN("Bundle adjustment... ");
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BundleAdjuster adjuster(ba_space, conf_thresh);
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adjuster(images, features, pairwise_matches, cameras);
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LOGLN("Bundle adjustment, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
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if (wave_correct)
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{
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t = getTickCount();
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LOGLN("Wave correcting...");
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vector<Mat> rmats;
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for (size_t i = 0; i < cameras.size(); ++i)
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rmats.push_back(cameras[i].R);
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waveCorrect(rmats);
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for (size_t i = 0; i < cameras.size(); ++i)
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cameras[i].R = rmats[i];
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LOGLN("Wave correcting, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
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}
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// Find median focal length
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vector<double> focals;
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for (size_t i = 0; i < cameras.size(); ++i)
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{
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LOGLN("Camera focal length " << i << ": " << cameras[i].focal);
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focals.push_back(cameras[i].focal);
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}
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nth_element(focals.begin(), focals.end(), focals.begin() + focals.size() / 2);
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float camera_focal = static_cast<float>(focals[focals.size() / 2]);
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if ((work_megapix > 0 || compose_megapix > 0)
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&& abs(work_megapix - compose_megapix) > 1e-3)
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{
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t = getTickCount();
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LOGLN("Compose scaling...");
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for (int i = 0; i < num_images; ++i)
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{
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Mat full_img = imread(img_names[i]);
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if (!is_compose_scale_set)
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{
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compose_scale = min(1.0, sqrt(compose_megapix * 1e6 / full_img.size().area()));
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is_compose_scale_set = true;
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}
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Mat img;
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resize(full_img, img, Size(), compose_scale, compose_scale);
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images[i] = img;
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cameras[i].focal *= compose_scale / work_scale;
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}
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camera_focal *= static_cast<float>(compose_scale / work_scale);
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LOGLN("Compose scaling, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
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}
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vector<Mat> masks(num_images);
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for (int i = 0; i < num_images; ++i)
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{
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masks[i].create(images[i].size(), CV_8U);
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masks[i].setTo(Scalar::all(255));
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}
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vector<Point> corners(num_images);
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vector<Mat> masks_warped(num_images);
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vector<Mat> images_warped(num_images);
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t = getTickCount();
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LOGLN("Warping images... ");
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Ptr<Warper> warper = Warper::createByCameraFocal(camera_focal, warp_type);
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for (int i = 0; i < num_images; ++i)
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{
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corners[i] = (*warper)(images[i], static_cast<float>(cameras[i].focal), cameras[i].R, images_warped[i]);
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(*warper)(masks[i], static_cast<float>(cameras[i].focal), cameras[i].R, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT);
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}
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vector<Mat> images_f(num_images);
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for (int i = 0; i < num_images; ++i)
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images_warped[i].convertTo(images_f[i], CV_32F);
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LOGLN("Warping images, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
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t = getTickCount();
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LOGLN("Finding seams...");
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Ptr<SeamFinder> seam_finder = SeamFinder::createDefault(seam_find_type);
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(*seam_finder)(images_f, corners, masks_warped);
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LOGLN("Finding seams, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
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t = getTickCount();
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LOGLN("Blending images...");
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Mat result, result_mask;
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Ptr<Blender> blender = Blender::createDefault(blend_type);
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(*blender)(images_f, corners, masks_warped, result, result_mask);
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LOGLN("Blending images, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
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imwrite(result_name, result);
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LOGLN("Finished, total time: " << ((getTickCount() - app_start_time) / getTickFrequency()) << " sec");
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return 0;
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}
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