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257 lines
10 KiB
257 lines
10 KiB
/*M/////////////////////////////////////////////////////////////////////////////////////// |
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// |
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. |
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// |
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// By downloading, copying, installing or using the software you agree to this license. |
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// If you do not agree to this license, do not download, install, |
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// copy or use the software. |
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// |
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// |
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// License Agreement |
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// For Open Source Computer Vision Library |
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// |
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// Copyright (C) 2000-2008, Intel Corporation, all rights reserved. |
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// Copyright (C) 2009, Willow Garage Inc., all rights reserved. |
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// Third party copyrights are property of their respective owners. |
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// Redistribution and use in source and binary forms, with or without modification, |
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// are permitted provided that the following conditions are met: |
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// * Redistribution's of source code must retain the above copyright notice, |
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// this list of conditions and the following disclaimer. |
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// * Redistribution's in binary form must reproduce the above copyright notice, |
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// this list of conditions and the following disclaimer in the documentation |
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// * The name of the copyright holders may not be used to endorse or promote products |
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// derived from this software without specific prior written permission. |
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// This software is provided by the copyright holders and contributors "as is" and |
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// the use of this software, even if advised of the possibility of such damage. |
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// |
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//M*/ |
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#ifndef OPENCV_STITCHING_STITCHER_HPP |
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#define OPENCV_STITCHING_STITCHER_HPP |
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#include "opencv2/core.hpp" |
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#include "opencv2/features2d.hpp" |
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#include "opencv2/stitching/warpers.hpp" |
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#include "opencv2/stitching/detail/matchers.hpp" |
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#include "opencv2/stitching/detail/motion_estimators.hpp" |
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#include "opencv2/stitching/detail/exposure_compensate.hpp" |
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#include "opencv2/stitching/detail/seam_finders.hpp" |
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#include "opencv2/stitching/detail/blenders.hpp" |
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#include "opencv2/stitching/detail/camera.hpp" |
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/** |
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@defgroup stitching Images stitching |
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This figure illustrates the stitching module pipeline implemented in the Stitcher class. Using that |
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class it's possible to configure/remove some steps, i.e. adjust the stitching pipeline according to |
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the particular needs. All building blocks from the pipeline are available in the detail namespace, |
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one can combine and use them separately. |
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The implemented stitching pipeline is very similar to the one proposed in @cite BL07 . |
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@{ |
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@defgroup stitching_match Features Finding and Images Matching |
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@defgroup stitching_rotation Rotation Estimation |
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@defgroup stitching_autocalib Autocalibration |
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@defgroup stitching_warp Images Warping |
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@defgroup stitching_seam Seam Estimation |
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@defgroup stitching_exposure Exposure Compensation |
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@defgroup stitching_blend Image Blenders |
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@} |
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*/ |
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namespace cv { |
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//! @addtogroup stitching |
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//! @{ |
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/** @brief High level image stitcher. |
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It's possible to use this class without being aware of the entire stitching pipeline. However, to |
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be able to achieve higher stitching stability and quality of the final images at least being |
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familiar with the theory is recommended. |
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@note |
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- A basic example on image stitching can be found at |
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opencv_source_code/samples/cpp/stitching.cpp |
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- A detailed example on image stitching can be found at |
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opencv_source_code/samples/cpp/stitching_detailed.cpp |
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*/ |
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class CV_EXPORTS_W Stitcher |
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{ |
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public: |
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enum { ORIG_RESOL = -1 }; |
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enum Status |
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{ |
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OK = 0, |
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ERR_NEED_MORE_IMGS = 1, |
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ERR_HOMOGRAPHY_EST_FAIL = 2, |
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ERR_CAMERA_PARAMS_ADJUST_FAIL = 3 |
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}; |
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// Stitcher() {} |
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/** @brief Creates a stitcher with the default parameters. |
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@param try_use_gpu Flag indicating whether GPU should be used whenever it's possible. |
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@return Stitcher class instance. |
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*/ |
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static Stitcher createDefault(bool try_use_gpu = false); |
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CV_WRAP double registrationResol() const { return registr_resol_; } |
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CV_WRAP void setRegistrationResol(double resol_mpx) { registr_resol_ = resol_mpx; } |
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CV_WRAP double seamEstimationResol() const { return seam_est_resol_; } |
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CV_WRAP void setSeamEstimationResol(double resol_mpx) { seam_est_resol_ = resol_mpx; } |
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CV_WRAP double compositingResol() const { return compose_resol_; } |
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CV_WRAP void setCompositingResol(double resol_mpx) { compose_resol_ = resol_mpx; } |
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CV_WRAP double panoConfidenceThresh() const { return conf_thresh_; } |
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CV_WRAP void setPanoConfidenceThresh(double conf_thresh) { conf_thresh_ = conf_thresh; } |
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CV_WRAP bool waveCorrection() const { return do_wave_correct_; } |
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CV_WRAP void setWaveCorrection(bool flag) { do_wave_correct_ = flag; } |
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detail::WaveCorrectKind waveCorrectKind() const { return wave_correct_kind_; } |
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void setWaveCorrectKind(detail::WaveCorrectKind kind) { wave_correct_kind_ = kind; } |
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Ptr<detail::FeaturesFinder> featuresFinder() { return features_finder_; } |
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const Ptr<detail::FeaturesFinder> featuresFinder() const { return features_finder_; } |
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void setFeaturesFinder(Ptr<detail::FeaturesFinder> features_finder) |
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{ features_finder_ = features_finder; } |
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Ptr<detail::FeaturesMatcher> featuresMatcher() { return features_matcher_; } |
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const Ptr<detail::FeaturesMatcher> featuresMatcher() const { return features_matcher_; } |
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void setFeaturesMatcher(Ptr<detail::FeaturesMatcher> features_matcher) |
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{ features_matcher_ = features_matcher; } |
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const cv::UMat& matchingMask() const { return matching_mask_; } |
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void setMatchingMask(const cv::UMat &mask) |
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{ |
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CV_Assert(mask.type() == CV_8U && mask.cols == mask.rows); |
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matching_mask_ = mask.clone(); |
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} |
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Ptr<detail::BundleAdjusterBase> bundleAdjuster() { return bundle_adjuster_; } |
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const Ptr<detail::BundleAdjusterBase> bundleAdjuster() const { return bundle_adjuster_; } |
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void setBundleAdjuster(Ptr<detail::BundleAdjusterBase> bundle_adjuster) |
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{ bundle_adjuster_ = bundle_adjuster; } |
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Ptr<WarperCreator> warper() { return warper_; } |
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const Ptr<WarperCreator> warper() const { return warper_; } |
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void setWarper(Ptr<WarperCreator> creator) { warper_ = creator; } |
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Ptr<detail::ExposureCompensator> exposureCompensator() { return exposure_comp_; } |
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const Ptr<detail::ExposureCompensator> exposureCompensator() const { return exposure_comp_; } |
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void setExposureCompensator(Ptr<detail::ExposureCompensator> exposure_comp) |
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{ exposure_comp_ = exposure_comp; } |
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Ptr<detail::SeamFinder> seamFinder() { return seam_finder_; } |
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const Ptr<detail::SeamFinder> seamFinder() const { return seam_finder_; } |
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void setSeamFinder(Ptr<detail::SeamFinder> seam_finder) { seam_finder_ = seam_finder; } |
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Ptr<detail::Blender> blender() { return blender_; } |
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const Ptr<detail::Blender> blender() const { return blender_; } |
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void setBlender(Ptr<detail::Blender> b) { blender_ = b; } |
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/** @overload */ |
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CV_WRAP Status estimateTransform(InputArrayOfArrays images); |
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/** @brief These functions try to match the given images and to estimate rotations of each camera. |
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@note Use the functions only if you're aware of the stitching pipeline, otherwise use |
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Stitcher::stitch. |
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@param images Input images. |
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@param rois Region of interest rectangles. |
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@return Status code. |
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*/ |
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Status estimateTransform(InputArrayOfArrays images, const std::vector<std::vector<Rect> > &rois); |
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/** @overload */ |
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CV_WRAP Status composePanorama(OutputArray pano); |
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/** @brief These functions try to compose the given images (or images stored internally from the other function |
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calls) into the final pano under the assumption that the image transformations were estimated |
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before. |
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@note Use the functions only if you're aware of the stitching pipeline, otherwise use |
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Stitcher::stitch. |
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@param images Input images. |
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@param pano Final pano. |
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@return Status code. |
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*/ |
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Status composePanorama(InputArrayOfArrays images, OutputArray pano); |
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/** @overload */ |
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CV_WRAP Status stitch(InputArrayOfArrays images, OutputArray pano); |
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/** @brief These functions try to stitch the given images. |
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@param images Input images. |
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@param rois Region of interest rectangles. |
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@param pano Final pano. |
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@return Status code. |
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*/ |
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Status stitch(InputArrayOfArrays images, const std::vector<std::vector<Rect> > &rois, OutputArray pano); |
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std::vector<int> component() const { return indices_; } |
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std::vector<detail::CameraParams> cameras() const { return cameras_; } |
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CV_WRAP double workScale() const { return work_scale_; } |
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private: |
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//Stitcher() {} |
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Status matchImages(); |
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Status estimateCameraParams(); |
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double registr_resol_; |
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double seam_est_resol_; |
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double compose_resol_; |
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double conf_thresh_; |
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Ptr<detail::FeaturesFinder> features_finder_; |
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Ptr<detail::FeaturesMatcher> features_matcher_; |
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cv::UMat matching_mask_; |
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Ptr<detail::BundleAdjusterBase> bundle_adjuster_; |
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bool do_wave_correct_; |
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detail::WaveCorrectKind wave_correct_kind_; |
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Ptr<WarperCreator> warper_; |
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Ptr<detail::ExposureCompensator> exposure_comp_; |
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Ptr<detail::SeamFinder> seam_finder_; |
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Ptr<detail::Blender> blender_; |
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std::vector<cv::UMat> imgs_; |
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std::vector<std::vector<cv::Rect> > rois_; |
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std::vector<cv::Size> full_img_sizes_; |
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std::vector<detail::ImageFeatures> features_; |
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std::vector<detail::MatchesInfo> pairwise_matches_; |
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std::vector<cv::UMat> seam_est_imgs_; |
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std::vector<int> indices_; |
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std::vector<detail::CameraParams> cameras_; |
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double work_scale_; |
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double seam_scale_; |
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double seam_work_aspect_; |
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double warped_image_scale_; |
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}; |
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CV_EXPORTS_W Ptr<Stitcher> createStitcher(bool try_use_gpu = false); |
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//! @} stitching |
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} // namespace cv |
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#endif // OPENCV_STITCHING_STITCHER_HPP
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