mirror of
https://github.com/opencv/opencv.git
synced 2024-11-29 22:00:25 +08:00
258 lines
10 KiB
C++
258 lines
10 KiB
C++
/*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.hpp"
|
|
#include "opencv2/features2d.hpp"
|
|
#include "opencv2/stitching/warpers.hpp"
|
|
#include "opencv2/stitching/detail/matchers.hpp"
|
|
#include "opencv2/stitching/detail/motion_estimators.hpp"
|
|
#include "opencv2/stitching/detail/exposure_compensate.hpp"
|
|
#include "opencv2/stitching/detail/seam_finders.hpp"
|
|
#include "opencv2/stitching/detail/blenders.hpp"
|
|
#include "opencv2/stitching/detail/camera.hpp"
|
|
|
|
/**
|
|
@defgroup stitching Images stitching
|
|
|
|
This figure illustrates the stitching module pipeline implemented in the Stitcher class. Using that
|
|
class it's possible to configure/remove some steps, i.e. adjust the stitching pipeline according to
|
|
the particular needs. All building blocks from the pipeline are available in the detail namespace,
|
|
one can combine and use them separately.
|
|
|
|
The implemented stitching pipeline is very similar to the one proposed in @cite BL07 .
|
|
|
|
|
|
|
|
@{
|
|
@defgroup stitching_match Features Finding and Images Matching
|
|
@defgroup stitching_rotation Rotation Estimation
|
|
@defgroup stitching_autocalib Autocalibration
|
|
@defgroup stitching_warp Images Warping
|
|
@defgroup stitching_seam Seam Estimation
|
|
@defgroup stitching_exposure Exposure Compensation
|
|
@defgroup stitching_blend Image Blenders
|
|
@}
|
|
*/
|
|
|
|
namespace cv {
|
|
|
|
//! @addtogroup stitching
|
|
//! @{
|
|
|
|
/** @brief High level image stitcher.
|
|
|
|
It's possible to use this class without being aware of the entire stitching pipeline. However, to
|
|
be able to achieve higher stitching stability and quality of the final images at least being
|
|
familiar with the theory is recommended.
|
|
|
|
@note
|
|
- A basic example on image stitching can be found at
|
|
opencv_source_code/samples/cpp/stitching.cpp
|
|
- A detailed example on image stitching can be found at
|
|
opencv_source_code/samples/cpp/stitching_detailed.cpp
|
|
*/
|
|
class CV_EXPORTS_W Stitcher
|
|
{
|
|
public:
|
|
enum { ORIG_RESOL = -1 };
|
|
enum Status
|
|
{
|
|
OK = 0,
|
|
ERR_NEED_MORE_IMGS = 1,
|
|
ERR_HOMOGRAPHY_EST_FAIL = 2,
|
|
ERR_CAMERA_PARAMS_ADJUST_FAIL = 3
|
|
};
|
|
|
|
// Stitcher() {}
|
|
/** @brief Creates a stitcher with the default parameters.
|
|
|
|
@param try_use_gpu Flag indicating whether GPU should be used whenever it's possible.
|
|
@return Stitcher class instance.
|
|
*/
|
|
static Stitcher createDefault(bool try_use_gpu = false);
|
|
|
|
CV_WRAP double registrationResol() const { return registr_resol_; }
|
|
CV_WRAP void setRegistrationResol(double resol_mpx) { registr_resol_ = resol_mpx; }
|
|
|
|
CV_WRAP double seamEstimationResol() const { return seam_est_resol_; }
|
|
CV_WRAP void setSeamEstimationResol(double resol_mpx) { seam_est_resol_ = resol_mpx; }
|
|
|
|
CV_WRAP double compositingResol() const { return compose_resol_; }
|
|
CV_WRAP void setCompositingResol(double resol_mpx) { compose_resol_ = resol_mpx; }
|
|
|
|
CV_WRAP double panoConfidenceThresh() const { return conf_thresh_; }
|
|
CV_WRAP void setPanoConfidenceThresh(double conf_thresh) { conf_thresh_ = conf_thresh; }
|
|
|
|
CV_WRAP bool waveCorrection() const { return do_wave_correct_; }
|
|
CV_WRAP 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; }
|
|
|
|
const cv::UMat& matchingMask() const { return matching_mask_; }
|
|
void setMatchingMask(const cv::UMat &mask)
|
|
{
|
|
CV_Assert(mask.type() == CV_8U && mask.cols == mask.rows);
|
|
matching_mask_ = mask.clone();
|
|
}
|
|
|
|
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> creator) { warper_ = creator; }
|
|
|
|
Ptr<detail::ExposureCompensator> exposureCompensator() { return exposure_comp_; }
|
|
const Ptr<detail::ExposureCompensator> exposureCompensator() const { return exposure_comp_; }
|
|
void setExposureCompensator(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> b) { blender_ = b; }
|
|
|
|
/** @overload */
|
|
CV_WRAP Status estimateTransform(InputArrayOfArrays images);
|
|
/** @brief These functions try to match the given images and to estimate rotations of each camera.
|
|
|
|
@note Use the functions only if you're aware of the stitching pipeline, otherwise use
|
|
Stitcher::stitch.
|
|
|
|
@param images Input images.
|
|
@param rois Region of interest rectangles.
|
|
@return Status code.
|
|
*/
|
|
Status estimateTransform(InputArrayOfArrays images, const std::vector<std::vector<Rect> > &rois);
|
|
|
|
/** @overload */
|
|
CV_WRAP Status composePanorama(OutputArray pano);
|
|
/** @brief These functions try to compose the given images (or images stored internally from the other function
|
|
calls) into the final pano under the assumption that the image transformations were estimated
|
|
before.
|
|
|
|
@note Use the functions only if you're aware of the stitching pipeline, otherwise use
|
|
Stitcher::stitch.
|
|
|
|
@param images Input images.
|
|
@param pano Final pano.
|
|
@return Status code.
|
|
*/
|
|
Status composePanorama(InputArrayOfArrays images, OutputArray pano);
|
|
|
|
/** @overload */
|
|
CV_WRAP Status stitch(InputArrayOfArrays images, OutputArray pano);
|
|
/** @brief These functions try to stitch the given images.
|
|
|
|
@param images Input images.
|
|
@param rois Region of interest rectangles.
|
|
@param pano Final pano.
|
|
@return Status code.
|
|
*/
|
|
Status stitch(InputArrayOfArrays images, const std::vector<std::vector<Rect> > &rois, OutputArray pano);
|
|
|
|
std::vector<int> component() const { return indices_; }
|
|
std::vector<detail::CameraParams> cameras() const { return cameras_; }
|
|
CV_WRAP double workScale() const { return work_scale_; }
|
|
|
|
private:
|
|
//Stitcher() {}
|
|
|
|
Status matchImages();
|
|
Status estimateCameraParams();
|
|
|
|
double registr_resol_;
|
|
double seam_est_resol_;
|
|
double compose_resol_;
|
|
double conf_thresh_;
|
|
Ptr<detail::FeaturesFinder> features_finder_;
|
|
Ptr<detail::FeaturesMatcher> features_matcher_;
|
|
cv::UMat matching_mask_;
|
|
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::UMat> imgs_;
|
|
std::vector<std::vector<cv::Rect> > rois_;
|
|
std::vector<cv::Size> full_img_sizes_;
|
|
std::vector<detail::ImageFeatures> features_;
|
|
std::vector<detail::MatchesInfo> pairwise_matches_;
|
|
std::vector<cv::UMat> 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_;
|
|
};
|
|
|
|
CV_EXPORTS_W Ptr<Stitcher> createStitcher(bool try_use_gpu = false);
|
|
|
|
//! @} stitching
|
|
|
|
} // namespace cv
|
|
|
|
#endif // __OPENCV_STITCHING_STITCHER_HPP__
|