Diff: opencv2/stitching.hpp

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+/*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 .
+
+![image](StitchingPipeline.jpg)
+
+@{
+    @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__
+