opencv/modules/stitching/main.cpp

250 lines
7.8 KiB
C++

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include "util.hpp"
#include "warpers.hpp"
#include "blenders.hpp"
#include "seam_finders.hpp"
#include "motion_estimators.hpp"
using namespace std;
using namespace cv;
void printUsage()
{
cout << "Rotation model images stitcher.\n\n";
cout << "Usage: opencv_stitching img1 img2 [...imgN]\n"
<< "\t[--matchconf <float>]\n"
<< "\t[--ba (ray|focal_ray)]\n"
<< "\t[--ba_thresh <float>]\n"
<< "\t[--wavecorrect (no|yes)]\n"
<< "\t[--warp (plane|cylindrical|spherical)]\n"
<< "\t[--seam (no|voronoi|graphcut)]\n"
<< "\t[--blend (no|feather|multiband)]\n"
<< "\t[--output <result_img>]\n\n";
cout << "--matchconf\n"
<< "\tGood values are in [0.2, 0.8] range usually.\n\n";
cout << "--ba_thresh\n"
<< "\tGood values are in [0.3, 1.0] range usually.\n";
}
int main(int argc, char* argv[])
{
cv::setBreakOnError(true);
vector<Mat> images;
string result_name = "result.png";
int ba_space = BundleAdjuster::FOCAL_RAY_SPACE;
float ba_thresh = 1.f;
bool wave_correct = true;
int warp_type = Warper::SPHERICAL;
bool user_match_conf = false;
float match_conf = 0.55f;
int seam_find_type = SeamFinder::GRAPH_CUT;
int blend_type = Blender::MULTI_BAND;
if (argc == 1)
{
printUsage();
return 0;
}
for (int i = 1; i < argc; ++i)
{
if (string(argv[i]) == "--result")
{
result_name = argv[i + 1];
i++;
}
else if (string(argv[i]) == "--matchconf")
{
user_match_conf = true;
match_conf = static_cast<float>(atof(argv[i + 1]));
i++;
}
else if (string(argv[i]) == "--ba")
{
if (string(argv[i + 1]) == "ray")
ba_space = BundleAdjuster::RAY_SPACE;
else if (string(argv[i + 1]) == "focal_ray")
ba_space = BundleAdjuster::FOCAL_RAY_SPACE;
else
{
cout << "Bad bundle adjustment space\n";
return -1;
}
i++;
}
else if (string(argv[i]) == "--ba_thresh")
{
ba_thresh = static_cast<float>(atof(argv[i + 1]));
i++;
}
else if (string(argv[i]) == "--wavecorrect")
{
if (string(argv[i + 1]) == "no")
wave_correct = false;
else if (string(argv[i + 1]) == "yes")
wave_correct = true;
else
{
cout << "Bad wave correct flag value\n";
return -1;
}
i++;
}
else if (string(argv[i]) == "--warp")
{
if (string(argv[i + 1]) == "plane")
warp_type = Warper::PLANE;
else if (string(argv[i + 1]) == "cylindrical")
warp_type = Warper::CYLINDRICAL;
else if (string(argv[i + 1]) == "spherical")
warp_type = Warper::SPHERICAL;
else
{
cout << "Bad warping method\n";
return -1;
}
i++;
}
else if (string(argv[i]) == "--seam")
{
if (string(argv[i + 1]) == "no")
seam_find_type = SeamFinder::NO;
else if (string(argv[i + 1]) == "voronoi")
seam_find_type = SeamFinder::VORONOI;
else if (string(argv[i + 1]) == "graphcut")
seam_find_type = SeamFinder::GRAPH_CUT;
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]) == "--output")
{
result_name = argv[i + 1];
i++;
}
else
{
Mat img = imread(argv[i]);
if (img.empty())
{
cout << "Can't open image " << argv[i] << endl;
return -1;
}
images.push_back(img);
}
}
const int num_images = static_cast<int>(images.size());
if (num_images < 2)
{
cout << "Need more images\n";
return -1;
}
LOGLN("Finding features...");
vector<ImageFeatures> features;
SurfFeaturesFinder finder;
finder(images, features);
LOGLN("Pairwise matching...");
vector<MatchesInfo> pairwise_matches;
BestOf2NearestMatcher matcher;
if (user_match_conf)
matcher = BestOf2NearestMatcher(true, match_conf);
matcher(images, features, pairwise_matches);
LOGLN("Estimating rotations...");
HomographyBasedEstimator estimator;
vector<CameraParams> cameras;
estimator(images, features, pairwise_matches, cameras);
for (size_t i = 0; i < cameras.size(); ++i)
{
Mat R;
cameras[i].M.convertTo(R, CV_32F);
cameras[i].M = R;
LOGLN("Initial focal length " << i << ": " << cameras[i].focal);
}
LOGLN("Bundle adjustment...");
BundleAdjuster adjuster(ba_space, ba_thresh);
adjuster(images, features, pairwise_matches, cameras);
if (wave_correct)
{
LOGLN("Wave correcting...");
vector<Mat> rmats;
for (size_t i = 0; i < cameras.size(); ++i)
rmats.push_back(cameras[i].M);
waveCorrect(rmats);
for (size_t i = 0; i < cameras.size(); ++i)
cameras[i].M = rmats[i];
}
// Find median focal length
vector<double> focals;
for (size_t i = 0; i < cameras.size(); ++i)
{
LOGLN("Camera focal length " << i << ": " << cameras[i].focal);
focals.push_back(cameras[i].focal);
}
nth_element(focals.begin(), focals.end(), focals.begin() + focals.size() / 2);
float camera_focal = static_cast<float>(focals[focals.size() / 2]);
vector<Mat> masks(num_images);
for (int i = 0; i < num_images; ++i)
{
masks[i].create(images[i].size(), CV_8U);
masks[i].setTo(Scalar::all(255));
}
vector<Point> corners(num_images);
vector<Mat> masks_warped(num_images);
vector<Mat> images_warped(num_images);
LOGLN("Warping images...");
Ptr<Warper> warper = Warper::createByCameraFocal(camera_focal, warp_type);
for (int i = 0; i < num_images; ++i)
{
corners[i] = (*warper)(images[i], static_cast<float>(cameras[i].focal), cameras[i].M, images_warped[i]);
(*warper)(masks[i], static_cast<float>(cameras[i].focal), cameras[i].M, masks_warped[i], INTER_NEAREST, BORDER_CONSTANT);
}
vector<Mat> images_f(num_images);
for (int i = 0; i < num_images; ++i)
images_warped[i].convertTo(images_f[i], CV_32F);
LOGLN("Finding seams...");
Ptr<SeamFinder> seam_finder = SeamFinder::createDefault(seam_find_type);
(*seam_finder)(images_f, corners, masks_warped);
LOGLN("Blending images...");
Mat result, result_mask;
Ptr<Blender> blender = Blender::createDefault(blend_type);
(*blender)(images_f, corners, masks_warped, result, result_mask);
imwrite(result_name, result);
LOGLN("Finished");
return 0;
}