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Diffstat (limited to 'thirdparty/linux/include/opencv2/stitching.hpp')
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diff --git a/thirdparty/linux/include/opencv2/stitching.hpp b/thirdparty/linux/include/opencv2/stitching.hpp new file mode 100644 index 0000000..387e1de --- /dev/null +++ b/thirdparty/linux/include/opencv2/stitching.hpp @@ -0,0 +1,320 @@ +/*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" + + +#if defined(Status) +# warning Detected X11 'Status' macro definition, it can cause build conflicts. Please, include this header before any X11 headers. +#endif + + +/** +@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 . + + + +Camera models +------------- + +There are currently 2 camera models implemented in stitching pipeline. + +- _Homography model_ expecting perspective transformations between images + implemented in @ref cv::detail::BestOf2NearestMatcher cv::detail::HomographyBasedEstimator + cv::detail::BundleAdjusterReproj cv::detail::BundleAdjusterRay +- _Affine model_ expecting affine transformation with 6 DOF or 4 DOF implemented in + @ref cv::detail::AffineBestOf2NearestMatcher cv::detail::AffineBasedEstimator + cv::detail::BundleAdjusterAffine cv::detail::BundleAdjusterAffinePartial cv::AffineWarper + +Homography model is useful for creating photo panoramas captured by camera, +while affine-based model can be used to stitch scans and object captured by +specialized devices. Use @ref cv::Stitcher::create to get preconfigured pipeline for one +of those models. + +@note +Certain detailed settings of @ref cv::Stitcher might not make sense. Especially +you should not mix classes implementing affine model and classes implementing +Homography model, as they work with different transformations. + +@{ + @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 + }; + enum Mode + { + /** Mode for creating photo panoramas. Expects images under perspective + transformation and projects resulting pano to sphere. + + @sa detail::BestOf2NearestMatcher SphericalWarper + */ + PANORAMA = 0, + /** Mode for composing scans. Expects images under affine transformation does + not compensate exposure by default. + + @sa detail::AffineBestOf2NearestMatcher AffineWarper + */ + SCANS = 1, + + }; + + // 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); + /** @brief Creates a Stitcher configured in one of the stitching modes. + + @param mode Scenario for stitcher operation. This is usually determined by source of images + to stitch and their transformation. Default parameters will be chosen for operation in given + scenario. + @param try_use_gpu Flag indicating whether GPU should be used whenever it's possible. + @return Stitcher class instance. + */ + static Ptr<Stitcher> create(Mode mode = PANORAMA, 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; } + + /* TODO OpenCV ABI 4.x + Ptr<detail::Estimator> estimator() { return estimator_; } + const Ptr<detail::Estimator> estimator() const { return estimator_; } + void setEstimator(Ptr<detail::Estimator> estimator) + { estimator_ = estimator; } + */ + + 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_; + /* TODO OpenCV ABI 4.x + Ptr<detail::Estimator> estimator_; + */ + 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 |