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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/core.hpp"
#include "opencv2/features2d/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"
namespace cv {
class CV_EXPORTS Stitcher
{
public:
enum { ORIG_RESOL = -1 };
enum Status { OK, ERR_NEED_MORE_IMGS };
// Creates stitcher with default parameters
static Stitcher createDefault(bool try_use_gpu = false);
double registrationResol() const { return registr_resol_; }
void setRegistrationResol(double resol_mpx) { registr_resol_ = resol_mpx; }
double seamEstimationResol() const { return seam_est_resol_; }
void setSeamEstimationResol(double resol_mpx) { seam_est_resol_ = resol_mpx; }
double compositingResol() const { return compose_resol_; }
void setCompositingResol(double resol_mpx) { compose_resol_ = resol_mpx; }
double panoConfidenceThresh() const { return conf_thresh_; }
void setPanoConfidenceThresh(double conf_thresh) { conf_thresh_ = conf_thresh; }
bool waveCorrection() const { return do_wave_correct_; }
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::Mat& matchingMask() const { return matching_mask_; }
void setMatchingMask(const cv::Mat &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; }
Status estimateTransform(InputArray images);
Status estimateTransform(InputArray images, const std::vector<std::vector<Rect> > &rois);
Status composePanorama(OutputArray pano);
Status composePanorama(InputArray images, OutputArray pano);
Status stitch(InputArray images, OutputArray pano);
Status stitch(InputArray 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_; }
double workScale() const { return work_scale_; }
private:
Stitcher() {}
Status matchImages();
void 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::Mat 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::Mat> 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::Mat> 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_;
};
} // namespace cv
#endif // __OPENCV_STITCHING_STITCHER_HPP__
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