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video_stitcher.cpp
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#include "stdafx.h"
#include <iostream>
#include <fstream>
#include <string>
#include <time.h>
// #include <Windows.h>
#include "composer_gpu.h"
#include "video_stitcher.h"
#include "apap.h"
#include "gutil.h"
MyVideoStitcher::MyVideoStitcher()
{
is_preview_ = true;
is_save_video_ = false;
start_frame_index_ = 0;
end_frame_index_ = -1;
is_try_gpu_ = false;
is_debug_ = false;
trim_type_ = MyVideoStitcher::TRIM_NO;
work_megapix_ = 1.0;//-1;//
seam_megapix_ = 0.2;//-1;//
is_prepared_ = false;
conf_thresh_ = 1.f;
features_type_ = "orb";//"surf";//
ba_cost_func_ = "ray";
ba_refine_mask_ = "xxxxx";
is_do_wave_correct_ = true;
wave_correct_ = detail::WAVE_CORRECT_HORIZ;
is_save_graph_ = false;
warp_type_ = "cylindrical";//"plane";//"apap";//"paniniA2B1";//"transverseMercator";//"spherical";//
expos_comp_type_ = ExposureCompensator::GAIN_BLOCKS;//ExposureCompensator::GAIN;//
match_conf_ = 0.3f;
seam_find_type_ = "gc_color";//"voronoi";//
blend_type_ = Blender::FEATHER;//Blender::MULTI_BAND;//Blender::NO;//
blend_strength_ = 5;
// 获取当前系统的核数
// SYSTEM_INFO sys_info;
// GetSystemInfo(&sys_info);
// parallel_num_ = sys_info.dwNumberOfProcessors;
parallel_num_=sysconf(_SC_NPROCESSORS_ONLN);
}
int MyVideoStitcher::stitch( vector<VideoCapture> &captures, string &writer_file_name )
{
int video_num = captures.size();
vector<Mat> src(video_num);
Mat frame, dst, show_dst;
// Debug用信息
bool is_save_input_frames = false;
bool is_save_output_frames = true;
double fps = captures[0].get(CAP_PROP_FPS);
// skip some frames
for(int j = 0; j < video_num; j++)
for(int i = 0; i < start_frame_index_; i++)
captures[j].read(frame);
// 第一帧，做一些初始化，并且确定结果视频的分辨率
for(int j = 0; j < video_num; j++)
{
if( !captures[j].read(frame))
return -1;
frame.copyTo(src[j]);
if(is_debug_)
{
char img_save_name[100];
sprintf(img_save_name, "/%d.jpg", j+1);
imwrite(debug_dir_path_ + img_save_name, src[j]);
}
}
long prepare_start_clock = clock();
int prepare_status = Prepare(src);
// 先用ORB特征测试，错误的话再使用SURF，仍然错误则报错，输入视频不符合条件
if( prepare_status == STITCH_CONFIG_ERROR )
{
cout << "video stitch config error!" << endl;
return -1;
}
if( prepare_status != STITCH_SUCCESS)
{
features_type_ = "surf";
cout << "video stitch first try failed, second try ... " << endl;
if( Prepare(src) != STITCH_SUCCESS)
{
cout << "videos input are invalid. Initialization failed." << endl;
return -1;
}
}
long prepare_end_clock = clock();
cout << "\tprepare time: " << prepare_end_clock - prepare_start_clock << "ms" << endl;
StitchFrame(src, dst);
if(is_debug_) //保存第一帧拼接结果和mask
{
imwrite(debug_dir_path_ + "/res.jpg", dst);
vector<Mat> img_masks(video_num);
for(int i = 0; i < video_num; i++)
{
img_masks[i].create(src[i].rows, src[i].cols, CV_8UC3);
img_masks[i].setTo(Scalar::all(255));
}
Mat dst_mask;
StitchFrame(img_masks, dst_mask);
imwrite(debug_dir_path_ + "/mask.jpg", dst_mask);
}
// 创建结果视频
VideoWriter writer;
if(is_save_video_)
{
writer.open(writer_file_name, cv::VideoWriter::fourcc('D', 'I','V', '3'), 20, Size(dst.cols, dst.rows));
writer.write(dst);
}
// 开始拼接
double stitch_time = 0;
FrameInfo frame_info;
frame_info.src.resize(video_num);
int frameidx = 1;
cout << "Stitching..." << endl;
string window_name = "视频拼接";
if(is_preview_)
namedWindow(window_name);
double show_scale = 1.0, scale_interval = 0.03;
int frame_show_interval = cvFloor(1000 / fps);
int failed_frame_count = 0;
char log_string[1000];
char log_file_name[200];
// SYSTEMTIME sys_time = {0};
// GetLocalTime(&sys_time);
time_t timer;
time(&timer);
tm *t_tm = localtime(&timer);
sprintf(log_file_name, "%d%02d%02d-%02d%02d%02d.log",
t_tm->tm_year, t_tm->tm_mon, t_tm->tm_mday, t_tm->tm_hour, t_tm->tm_min, t_tm->tm_sec);
ofstream log_file;
if(is_debug_)
log_file.open(debug_dir_path_ + log_file_name);
long long startTime = clock();
while(true)
{
long frame_time = 0;
// 采集
long cap_start_clock = clock();
int j;
for(j = 0; j < video_num; j++)
{
if( !captures[j].read(frame))
break;
frame.copyTo(frame_info.src[j]);
}
frame_info.frame_idx = frameidx;
frameidx++;
if(j != video_num || (end_frame_index_ >= 0 && frameidx >= end_frame_index_)) //有一个视频源结束，则停止拼接
break;
// 拼接
long stitch_start_clock = clock();
frame_info.stitch_status = StitchFrame(frame_info.src, frame_info.dst);
long stitch_clock = clock();
sprintf(log_string, "\tframe %d: stitch(%dms), capture(%dms)",
frame_info.frame_idx, stitch_clock - stitch_start_clock, stitch_start_clock - cap_start_clock);
printf("%s", log_string);
if(is_debug_)
log_file << log_string << endl;
stitch_time += stitch_clock - stitch_start_clock;
frame_time += stitch_clock - cap_start_clock;
// 拼接失败
if(frame_info.stitch_status != 0)
{
cout << "failed\n";
if(is_debug_)
log_file << "failed" << endl;
failed_frame_count++;
break;
}
// 保存视频
if(is_save_video_)
{
cout << ", write(";
if(is_save_output_frames)
{
char img_save_name[100];
sprintf(img_save_name, "/images/%d.jpg", frame_info.frame_idx);
imwrite(debug_dir_path_ + img_save_name, frame_info.dst);
}
long write_start_clock = clock();
writer.write(frame_info.dst);
long write_clock = clock();
cout << write_clock - write_start_clock << "ms)";
frame_time += write_clock - write_start_clock;
}
cout << endl;
// 显示---
if(is_preview_)
{
int key = waitKey(std::max(1, (int)(frame_show_interval - frame_time)));
if(key == 27) // ESC
break;
else if(key == 61 || key == 43) // +
show_scale += scale_interval;
else if(key == 45) // -
if(show_scale >= scale_interval)
show_scale -= scale_interval;
resize(frame_info.dst, show_dst, Size(show_scale * dst.cols, show_scale * dst.rows));
imshow(window_name, show_dst);
}
}
long long endTime = clock();
cout << "test " << endTime - startTime << endl;
cout << "\nStitch over" << endl;
cout << failed_frame_count << " frames failed." << endl;
cout << "\tfull view angle is " << cvRound(view_angle_) << "°" << endl;
if(is_debug_)
log_file << "\tfull view angle is " << cvRound(view_angle_) << "°" << endl;
writer.release();
cout << "\ton average: stitch time = " << stitch_time / (frameidx-1) << "ms" << endl;
cout << "\tcenter: (" << -dst_roi_.x << ", " << -dst_roi_.y << ")" << endl;
if(is_debug_)
{
log_file << "\ton average: stitch time = " << stitch_time / (frameidx-1) << "ms" << endl;
log_file << "\tcenter: (" << -dst_roi_.x << ", " << -dst_roi_.y << ")" << endl;
log_file.close();
}
return 0;
}
void MyVideoStitcher::InitMembers(int num_images)
{
}
/*
* 初始图像可能分辨率很高，先做一步降采样，可以提高时间效率
*/
void MyVideoStitcher::SetScales(vector<Mat> &src)
{
if(work_megapix_ < 0)
work_scale_ = 1.0;
else
work_scale_ = min(1.0, sqrt(work_megapix_ * 1e6 / src[0].size().area()));
if(seam_megapix_ < 0)
seam_scale_ = 1.0;
else
seam_scale_ = min(1.0, sqrt(seam_megapix_ * 1e6 / src[0].size().area()));
}
/*
* 特征提取，支持SURF和ORB
*/
int MyVideoStitcher::FindFeatures(vector<Mat> &src, vector<ImageFeatures> &features)
{
Ptr<Feature2D> finder;
if (features_type_ == "orb")
{
finder = ORB::create();
}
else if (features_type_ == "akaze")
{
finder = AKAZE::create();
}
#ifdef HAVE_OPENCV_XFEATURES2D
else if (features_type_ == "surf")
{
finder = xfeatures2d::SURF::create();
}
#endif
else if (features_type_ == "sift")
{
finder = SIFT::create();
}
else
{
cout << "Unknown 2D features type: '" << features_type_<< "'.\n";
return -1;
}
Mat full_img, img;
int num_images = src.size();
vector<Mat> images(num_images);
vector<Size> full_img_sizes(num_images);
seam_work_aspect_ = 1;
for (int i = 0; i < num_images; ++i)
{
full_img = src[i].clone();
full_img_sizes[i] = full_img.size();
if (work_megapix_ < 0)
{
img = full_img;
work_scale_ = 1;
is_work_scale_set_ = true;
}
else
{
if (!is_work_scale_set_)
{
work_scale_ = min(1.0, sqrt(work_megapix_ * 1e6 / full_img.size().area()));
is_work_scale_set_ = true;
}
resize(full_img, img, Size(), work_scale_, work_scale_, INTER_LINEAR_EXACT);
}
if (!is_seam_scale_set_)
{
seam_scale_ = min(1.0, sqrt(seam_megapix_ * 1e6 / full_img.size().area()));
seam_work_aspect_ = seam_scale_ / work_scale_;
is_seam_scale_set_ = true;
}
computeImageFeatures(finder, img, features[i]);
features[i].img_idx = i;
LOGLN("Features in image #" << i+1 << ": " << features[i].keypoints.size());
resize(full_img, img, Size(), seam_scale_, seam_scale_, INTER_LINEAR_EXACT);
images[i] = img.clone();
}
full_img.release();
img.release();
return STITCH_SUCCESS;
}
/*
* 特征匹配，然后去除噪声图片。本代码实现时，一旦出现噪声图片，就终止算法
* 返回值：
* 0 —— 正常
* -2 —— 存在噪声图片
*/
int MyVideoStitcher::MatchImages(vector<ImageFeatures> &features, vector<MatchesInfo> &pairwise_matches)
{
int total_num_images = static_cast<int>(features.size());
Ptr<FeaturesMatcher> matcher;
if (match_type_ == "affine")
matcher = makePtr<AffineBestOf2NearestMatcher>(false, is_try_gpu_, match_conf_);
else if (range_width_==-1)
matcher = makePtr<BestOf2NearestMatcher>(is_try_gpu_, match_conf_);
else
matcher = makePtr<BestOf2NearestRangeMatcher>(range_width_, is_try_gpu_, match_conf_);
(*matcher)(features, pairwise_matches);
matcher->collectGarbage();
// 去除噪声图像
vector<int> indices = leaveBiggestComponent(features, pairwise_matches, conf_thresh_);
// 一旦出现噪声图片，就终止算法
int num_images = static_cast<int>(indices.size());
if (num_images != total_num_images)
{
LOGLN(total_num_images - num_images << " videos are invaild");
return STITCH_NOISE;
}
return STITCH_SUCCESS;
}
/*
* 摄像机标定
*/
int MyVideoStitcher::CalibrateCameras(vector<ImageFeatures> &features, vector<MatchesInfo> &pairwise_matches, vector<CameraParams> &cameras)
{
Ptr<Estimator> estimator;
if (estimator_type_ == "affine")
estimator = makePtr<AffineBasedEstimator>();
else
estimator = makePtr<HomographyBasedEstimator>();
if (!(*estimator)(features, pairwise_matches, cameras))
{
cout << "Homography estimation failed.\n";
return -1;
}
for (size_t i = 0; i < cameras.size(); ++i)
{
Mat R;
cameras[i].R.convertTo(R, CV_32F);
cameras[i].R = R;
// LOGLN("Initial intrinsics #" << i << ":\n" << cameras[i].K());
}
Ptr<detail::BundleAdjusterBase> adjuster;
Mat_<uchar> refine_mask;
vector<double> focals;
if (ba_cost_func_ == "reproj") adjuster = makePtr<detail::BundleAdjusterReproj>();
else if (ba_cost_func_ == "ray") adjuster = makePtr<detail::BundleAdjusterRay>();
else if (ba_cost_func_ == "affine") adjuster = makePtr<detail::BundleAdjusterAffinePartial>();
else if (ba_cost_func_ == "no") adjuster = makePtr<NoBundleAdjuster>();
else
{
cout << "Unknown bundle adjustment cost function: '" << ba_cost_func_ << "'.\n";
return STITCH_CONFIG_ERROR;
}
adjuster->setConfThresh(conf_thresh_);
refine_mask = Mat::zeros(3, 3, CV_8U);
if (ba_refine_mask_[0] == 'x') refine_mask(0,0) = 1;
if (ba_refine_mask_[1] == 'x') refine_mask(0,1) = 1;
if (ba_refine_mask_[2] == 'x') refine_mask(0,2) = 1;
if (ba_refine_mask_[3] == 'x') refine_mask(1,1) = 1;
if (ba_refine_mask_[4] == 'x') refine_mask(1,2) = 1;
if (!(*adjuster)(features, pairwise_matches, cameras))
{
cout << "Camera parameters adjusting failed.\n";
return -1;
}
// Find median focal length
for (size_t i = 0; i < cameras.size(); ++i)
{
focals.push_back(cameras[i].focal);
//LOGLN("Camera #" << i+1 << ":\n" << cameras[i].t << cameras[i].R);
}
sort(focals.begin(), focals.end());
if (focals.size() % 2 == 1)
median_focal_len_ = static_cast<float>(focals[focals.size() / 2]);
else
median_focal_len_ = static_cast<float>(focals[focals.size() / 2 - 1] + focals[focals.size() / 2]) * 0.5f;
if (is_do_wave_correct_)
{
vector<Mat> rmats;
for (size_t i = 0; i < cameras.size(); ++i)
rmats.push_back(cameras[i].R);
waveCorrect(rmats, wave_correct_);
for (size_t i = 0; i < cameras.size(); ++i)
cameras[i].R = rmats[i];
}
if(is_debug_)
this->saveCameraParam(debug_dir_path_ + "/camera_param.dat");
return STITCH_SUCCESS;
}
/*
* 计算水平视角，用于判断是否适用于平面投影
*/
double MyVideoStitcher::GetViewAngle(vector<Mat> &src, vector<CameraParams> &cameras)
{
Ptr<WarperCreator> warper_creator = new cv::CylindricalWarper();
Ptr<RotationWarper> warper = warper_creator->create(median_focal_len_);
int num_images = static_cast<int>(src.size());
vector<Point> corners;
vector<Size> sizes;
for (int i = 0; i < num_images; ++i)
{
Mat_<float> K;
cameras[i].K().convertTo(K, CV_32F);
Rect roi = warper->warpRoi(Size(src[i].cols * work_scale_, src[i].rows * work_scale_), K, cameras[i].R);
corners.push_back(roi.tl());
sizes.push_back(roi.size());
}
Rect result_roi = resultRoi(corners, sizes);//return the max rect
double view_angle = result_roi.width * 180.0 / (median_focal_len_ * CV_PI);
return view_angle;
}
/*
* 计算接缝之前，需要先把原始图像和mask按照相机参数投影
*/
int MyVideoStitcher::WarpForSeam(vector<Mat> &src, vector<CameraParams> &cameras, vector<UMat> &masks_warped, vector<UMat> &images_warped)
{
// Warp images and their masks
int num_images = static_cast<int>(src.size());
vector<UMat> masks(num_images);
#ifdef HAVE_OPENCV_CUDAWARPING
if (is_try_gpu_ && cuda::getCudaEnabledDeviceCount() > 0)
{
if (warp_type_ == "plane")
warper_creator_ = makePtr<cv::PlaneWarperGpu>();
else if (warp_type_ == "cylindrical")
warper_creator_ = makePtr<cv::CylindricalWarperGpu>();
else if (warp_type_ == "spherical")
warper_creator_ = makePtr<cv::SphericalWarperGpu>();
}
else
#endif
{
if (warp_type_ == "plane")
warper_creator_ = makePtr<cv::PlaneWarper>();
else if (warp_type_ == "affine")
warper_creator_ = makePtr<cv::AffineWarper>();
else if (warp_type_ == "cylindrical")
warper_creator_ = makePtr<cv::CylindricalWarper>();
else if (warp_type_== "spherical")
warper_creator_ = makePtr<cv::SphericalWarper>();
else if (warp_type_ == "fisheye")
warper_creator_ = makePtr<cv::FisheyeWarper>();
else if (warp_type_ == "stereographic")
warper_creator_ = makePtr<cv::StereographicWarper>();
else if (warp_type_ == "compressedPlaneA2B1")
warper_creator_ = makePtr<cv::CompressedRectilinearWarper>(2.0f, 1.0f);
else if (warp_type_ == "compressedPlaneA1.5B1")
warper_creator_ = makePtr<cv::CompressedRectilinearWarper>(1.5f, 1.0f);
else if (warp_type_ == "compressedPlanePortraitA2B1")
warper_creator_ = makePtr<cv::CompressedRectilinearPortraitWarper>(2.0f, 1.0f);
else if (warp_type_ == "compressedPlanePortraitA1.5B1")
warper_creator_ = makePtr<cv::CompressedRectilinearPortraitWarper>(1.5f, 1.0f);
else if (warp_type_ == "paniniA2B1")
warper_creator_ = makePtr<cv::PaniniWarper>(2.0f, 1.0f);
else if (warp_type_ == "paniniA1.5B1")
warper_creator_ = makePtr<cv::PaniniWarper>(1.5f, 1.0f);
else if (warp_type_ == "paniniPortraitA2B1")
warper_creator_ = makePtr<cv::PaniniPortraitWarper>(2.0f, 1.0f);
else if (warp_type_ == "paniniPortraitA1.5B1")
warper_creator_ = makePtr<cv::PaniniPortraitWarper>(1.5f, 1.0f);
else if (warp_type_ == "mercator")
warper_creator_ = makePtr<cv::MercatorWarper>();
else if (warp_type_ == "transverseMercator")
warper_creator_ = makePtr<cv::TransverseMercatorWarper>();
}
if (!warper_creator_)
{
cout << "Can't create the following warper '" << warp_type_ << "'\n";
return 1;
}
float warp_scale = static_cast<float>(median_focal_len_ * seam_work_aspect_);
Ptr<RotationWarper> warper = warper_creator_->create(warp_scale);
int full_pano_width = cvFloor(warp_scale * 2 * CV_PI);
Mat img, mask;
for (int i = 0; i < num_images; ++i)
{
Mat_<float> K;
cameras[i].K().convertTo(K, CV_32F);
float swa = (float)seam_work_aspect_;
K(0,0) *= swa; K(0,2) *= swa;
K(1,1) *= swa; K(1,2) *= swa;
if (seam_megapix_ < 0)
img = src[i].clone();
else
resize(src[i], img, Size(), seam_scale_, seam_scale_);
mask.create(img.size(), CV_8U);
mask.setTo(Scalar::all(255));
UMat tmp_mask_warped, tmp_img_warped;
Point tmp_corner;
warper->warp(mask, K, cameras[i].R, INTER_NEAREST, BORDER_CONSTANT, tmp_mask_warped);
// 考虑360度拼接的特殊情况
tmp_corner = warper->warp(img, K, cameras[i].R, INTER_LINEAR, BORDER_REFLECT, tmp_img_warped);
//cout << "warped width = " << tmp_mask_warped.cols << ", pano width = " << full_pano_width << endl;
if(abs(tmp_mask_warped.cols - full_pano_width) <= 10)
{
int x1, x2;
FindWidestInpaintRange(tmp_mask_warped, x1, x2);
UMat mask1, mask2, img1, img2;
Rect rect1(0, 0, x1, tmp_mask_warped.rows), rect2(x2+1, 0, tmp_mask_warped.cols-1-x2, tmp_mask_warped.rows);
tmp_mask_warped(rect1).copyTo(mask1);
tmp_mask_warped(rect2).copyTo(mask2);
masks_warped.push_back(mask1);
masks_warped.push_back(mask2);
tmp_img_warped(rect1).copyTo(img1);
tmp_img_warped(rect2).copyTo(img2);
images_warped.push_back(img1);
images_warped.push_back(img2);
corners_.push_back(tmp_corner);
corners_.push_back(tmp_corner + rect2.tl());
sizes_.push_back(rect1.size());
sizes_.push_back(rect2.size());
}
else
{
masks_warped.push_back(tmp_mask_warped);
corners_.push_back(tmp_corner);
images_warped.push_back(tmp_img_warped);
sizes_.push_back(tmp_img_warped.size());
}
}
return STITCH_SUCCESS;
}
/*
* 解决360°拼接问题。对于横跨360°接缝的图片，找到最宽的inpaint区域[x1, x2]
*/
int MyVideoStitcher::FindWidestInpaintRange(UMat umask, int &x1, int &x2)
{
Mat mask;
mask = umask.getMat(ACCESS_READ).clone();
vector<int> sum_row(mask.cols);
uchar *mask_ptr = mask.ptr<uchar>(0);
for(int x = 0; x < mask.cols; x++)
sum_row[x] = 0;
for(int x = 0; x < mask.cols; x++)
for(int y = 0; y < mask.rows; y++)
if(mask_ptr[y * mask.cols + x] != 0)
sum_row[x] = 1;
int cur_x1, cur_x2, max_range = 0;
for(int x = 1; x < mask.cols; x++) // 最左边肯定是1
{
if(sum_row[x - 1] == 1 && sum_row[x] == 0)
cur_x1 = x;
else if(sum_row[x - 1] == 0 && sum_row[x] == 1)
{
cur_x2 = x - 1;
if(cur_x2 - cur_x1 > max_range)
{
x1 = cur_x1;
x2 = cur_x2;
}
}
}
return 0;
}
/*
* 计算接缝
*/
int MyVideoStitcher::FindSeam(vector<UMat> &images_warped, vector<UMat> &masks_warped)
{
int num_images = static_cast<int>(images_warped.size());
vector<UMat> images_warped_f(num_images);
for(int i = 0;i < num_images ; ++i)
{
images_warped[i].convertTo(images_warped_f[i],CV_32F);
}
Ptr<SeamFinder> seam_finder;
if (seam_find_type_ == "no")
seam_finder = makePtr<detail::NoSeamFinder>();
else if (seam_find_type_ == "voronoi")
seam_finder = makePtr<detail::VoronoiSeamFinder>();
else if (seam_find_type_ == "gc_color")
{
// #ifdef HAVE_OPENCV_CUDALEGACY
// if (is_try_gpu_ && cuda::getCudaEnabledDeviceCount() > 0)
// seam_finder = makePtr<detail::GraphCutSeamFinderGpu>(GraphCutSeamFinderBase::COST_COLOR);
// else
// #endif
seam_finder = makePtr<detail::GraphCutSeamFinder>(GraphCutSeamFinderBase::COST_COLOR);
}
else if (seam_find_type_ == "gc_colorgrad")
{
// #ifdef HAVE_OPENCV_CUDALEGACY
// if (is_try_gpu_ && cuda::getCudaEnabledDeviceCount() > 0)
// seam_finder = makePtr<detail::GraphCutSeamFinderGpu>(GraphCutSeamFinderBase::COST_COLOR_GRAD);
// else
// #endif
seam_finder = makePtr<detail::GraphCutSeamFinder>(GraphCutSeamFinderBase::COST_COLOR_GRAD);
}
else if (seam_find_type_ == "dp_color")
seam_finder = makePtr<detail::DpSeamFinder>(DpSeamFinder::COLOR);
else if (seam_find_type_ == "dp_colorgrad")
seam_finder = makePtr<detail::DpSeamFinder>(DpSeamFinder::COLOR_GRAD);
if (!seam_finder)
{
cout << "Can't create the following seam finder '" << seam_find_type_ << "'\n";
return 1;
}
seam_finder->find(images_warped_f, corners_, masks_warped);
// LOGLN("Finding seams, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
// Release unused memory
images_warped_f.clear();
return STITCH_SUCCESS;
}
/*
* 恢复原始图像大小
*/
int MyVideoStitcher::Rescale(vector<Mat> &src, vector<CameraParams> &cameras, vector<UMat> &seam_masks, vector<UMat> &images_masks)
{
median_focal_len_ = median_focal_len_ / work_scale_;
Ptr<RotationWarper> warper = warper_creator_->create(median_focal_len_);
int full_pano_width = cvFloor(median_focal_len_ * 2 * CV_PI);
//cout << "median focal length: " << median_focal_len_ << endl;
// Update corners and sizes
int num_images = static_cast<int>(src.size());
Mat tmp_mask, tmp_dilated_mask, tmp_seam_mask, tmp_image_mask;
corners_.clear();
sizes_.clear();
for (int src_idx = 0, seam_idx = 0; src_idx < num_images; ++src_idx)
{
// Update intrinsics
cameras[src_idx].focal /= work_scale_;
cameras[src_idx].ppx /= work_scale_;
cameras[src_idx].ppy /= work_scale_;
Mat K;
cameras[src_idx].K().convertTo(K, CV_32F);
// Size sz = sizes_[src_idx];
// Rect roi = warper->warpRoi(sz, K, cameras_[src_idx].R);
// corners_[src_idx] = roi.tl();
// sizes_[src_idx] = roi.size();
// 计算最终image warp的坐标映射矩阵
Mat tmp_xmap, tmp_ymap;
warper->buildMaps(src[src_idx].size(), K, cameras[src_idx].R, tmp_xmap, tmp_ymap);
// Warp the current image mask
Mat tmp_mask_warped;
tmp_mask.create(src[src_idx].size(), CV_8U);
tmp_mask.setTo(Scalar::all(255));
Point tmp_corner = warper->warp(tmp_mask, K, cameras[src_idx].R, INTER_NEAREST, BORDER_CONSTANT, tmp_mask_warped);
// 考虑360度拼接的特殊情况
if(abs(tmp_mask_warped.cols - full_pano_width) <= 10)
{
int x1, x2;
UMat tmp_mask_warped1 = tmp_mask_warped.getUMat(ACCESS_READ).clone();
FindWidestInpaintRange(tmp_mask_warped1, x1, x2);
Mat warped_mask[2], blend_mask[2], xmap[2], ymap[2];
Rect rect[2];
rect[0] = Rect(0, 0, x1, tmp_mask_warped.rows);
rect[1] = Rect(x2+1, 0, tmp_mask_warped.cols-1-x2, tmp_mask_warped.rows);
for(int j = 0; j < 2; j++)
{
tmp_mask_warped(rect[j]).copyTo(warped_mask[j]);
final_warped_masks_.push_back(warped_mask[j]);
tmp_xmap(rect[j]).copyTo(xmap[j]);
xmaps_.push_back(xmap[j]);
tmp_ymap(rect[j]).copyTo(ymap[j]);
ymaps_.push_back(ymap[j]);
// 计算总的mask = warp_mask & seam_mask
dilate(seam_masks[seam_idx], tmp_dilated_mask, Mat()); //膨胀
resize(tmp_dilated_mask, tmp_seam_mask, rect[j].size());
final_blend_masks_.push_back(warped_mask[j] & tmp_seam_mask);
corners_.push_back(tmp_corner + rect[j].tl());
sizes_.push_back(rect[j].size());
src_indices_.push_back(src_idx);
seam_idx++;
}
}
else
{
xmaps_.push_back(tmp_xmap);
ymaps_.push_back(tmp_ymap);
final_warped_masks_.push_back(tmp_mask_warped);
corners_.push_back(tmp_corner);
Size sz = tmp_mask_warped.size();
sizes_.push_back(sz);
// 计算总的mask = warp_mask & seam_mask
dilate(seam_masks[seam_idx], tmp_dilated_mask, Mat()); //膨胀
resize(tmp_dilated_mask, tmp_seam_mask, sz);
final_blend_masks_.push_back(tmp_mask_warped & tmp_seam_mask);
src_indices_.push_back(src_idx);
seam_idx ++;
}
}
dst_roi_ = resultRoi(corners_, sizes_);
int parts_num = sizes_.size();
final_warped_images_.resize(parts_num);
for(int j = 0; j < parts_num; j++)
final_warped_images_[j].create(sizes_[j], src[src_indices_[j]].type());
tmp_dilated_mask.release();
tmp_seam_mask.release();
tmp_mask.release();
return STITCH_SUCCESS;
}
/*
* 拼接结果可能是不规则形状，裁剪成方形
*/
int MyVideoStitcher::TrimRect(Rect rect)
{
// 计算每幅图像的rect，并修改xmap和ymap
int top = rect.y;
int left = rect.x;
int bottom = rect.y + rect.height - 1;
int right = rect.x + rect.width - 1;
int num_images = xmaps_.size();
for(int i = 0; i < num_images; i++)
{
int top_i, bottom_i, left_i, right_i;
top_i = max(dst_roi_.y + top, corners_[i].y);
left_i = max(dst_roi_.x + left, corners_[i].x);
bottom_i = min(corners_[i].y + sizes_[i].height - 1, dst_roi_.y + bottom);
right_i = min(corners_[i].x + sizes_[i].width - 1, dst_roi_.x + right);
sizes_[i].height = bottom_i - top_i + 1;
sizes_[i].width = right_i - left_i + 1;
Rect map_rect(left_i - corners_[i].x, top_i - corners_[i].y,
sizes_[i].width, sizes_[i].height);
Mat tmp_map = xmaps_[i].clone();
tmp_map(map_rect).copyTo(xmaps_[i]);
tmp_map = ymaps_[i].clone();
tmp_map(map_rect).copyTo(ymaps_[i]);
Mat tmp_img = final_blend_masks_[i].clone();
tmp_img(map_rect).copyTo(final_blend_masks_[i]);
corners_[i].x = left_i;
corners_[i].y = top_i;
}
dst_roi_.x += left;
dst_roi_.y += top;
dst_roi_.width = right - left + 1;
dst_roi_.height = bottom - top + 1;
return STITCH_SUCCESS;
}
/*
* 如果是平面投影的话，可以自动去除未填充区域
*/
int MyVideoStitcher::TrimInpaint(vector<Mat> &src)
{
int num_images = static_cast<int>(src.size());
// 先计算最终图像的mask
dst_roi_ = resultRoi(corners_, sizes_);
Mat dst = Mat::zeros(dst_roi_.height, dst_roi_.width, CV_8UC1);
for(int i = 0; i < num_images; i++)
{
int dx = corners_[i].x - dst_roi_.x;
int dy = corners_[i].y - dst_roi_.y;
int img_rows = sizes_[i].height;
int img_cols = sizes_[i].width;
for(int y = 0; y < img_rows; y++)
{
uchar *mask_row_ptr = final_warped_masks_[i].ptr<uchar>(y);
uchar *dst_row_ptr = dst.ptr<uchar>(dy + y);
for(int x = 0; x < img_cols; x++)
dst_row_ptr[dx + x] += mask_row_ptr[x];
}
}
int x, y;
// top
for(y = 0; y < dst_roi_.height; y++)
{
uchar *dst_row_ptr = dst.ptr<uchar>(y);
if(!(this->IsRowCrossInpaint(dst_row_ptr, dst_roi_.width)))
break;
}
int top = y;
// bottom
for(y = dst_roi_.height - 1; y >= 0 ; y--)
{
uchar *dst_row_ptr = dst.ptr<uchar>(y);
if(!(this->IsRowCrossInpaint(dst_row_ptr, dst_roi_.width)))
break;
}
int bottom = y;
// left
uchar *dst_ptr_00 = dst.ptr<uchar>(0);
for(x = 0; x < dst_roi_.width; x++)
{
for(y = top; y < bottom; y++)
if(dst_ptr_00[y * (dst_roi_.width) + x] == 0)
break;
if(y == bottom)
break;
}
int left = x;
// right
for(x = dst_roi_.width-1; x >= 0 ; x--)
{
for(y = top; y < bottom; y++)
if(dst_ptr_00[y * (dst_roi_.width) + x] == 0)
break;
if(y == bottom)
break;
}
int right = x;
// 计算每幅图像的rect，并修改xmap和ymap
for(int i = 0; i < num_images; i++)
{
int top_i, bottom_i, left_i, right_i;
top_i = max(dst_roi_.y + top, corners_[i].y);
left_i = max(dst_roi_.x + left, corners_[i].x);
bottom_i = min(corners_[i].y + sizes_[i].height - 1, dst_roi_.y + bottom);
right_i = min(corners_[i].x + sizes_[i].width - 1, dst_roi_.x + right);
sizes_[i].height = bottom_i - top_i + 1;
sizes_[i].width = right_i - left_i + 1;
Rect rect(left_i - corners_[i].x, top_i - corners_[i].y,
sizes_[i].width, sizes_[i].height);
Mat tmp_map = xmaps_[i].clone();
tmp_map(rect).copyTo(xmaps_[i]);
tmp_map = ymaps_[i].clone();
tmp_map(rect).copyTo(ymaps_[i]);
Mat tmp_img = final_blend_masks_[i].clone();
tmp_img(rect).copyTo(final_blend_masks_[i]);
corners_[i].x = left_i;
corners_[i].y = top_i;
}
dst_roi_.x += left;
dst_roi_.y += top;
dst_roi_.width = right - left + 1;
dst_roi_.height = bottom - top + 1;
return 0;
}
/*
* 判断一行中是否有未填充像素
*/
bool MyVideoStitcher::IsRowCrossInpaint(uchar *row, int width)
{
bool is_have_entered_inpaint = false;
int count0 = 0;
for(int x = 1; x < width; x++)
{
if(row[x] == 0)
count0++;
if(row[x-1] != 0 && row[x] == 0)
is_have_entered_inpaint = true;
if((row[x-1] == 0 && row[x] != 0) && is_have_entered_inpaint)
return true;
}
if(count0 >= (width/2))
return true;
return false;
}
int MyVideoStitcher::Prepare(vector<Mat> &src)
{
cv::setBreakOnError(true);
int num_images = static_cast<int>(src.size());
if (num_images < 2)
{
LOGLN("Need more images");
return STITCH_CONFIG_ERROR;
}
int cudaStatus = testGPU();
if( is_try_gpu_ && cudaStatus != 0 )
{
LOGLN("GPU acceleration failed! Error code: " << cudaStatus << " Please ensure that you have a CUDA-capable GPU installed!");
LOGLN("Stitching with CPU next ...");
return STITCH_CONFIG_ERROR;
}
int flag;
if(warp_type_ == "apap")
flag = PrepareAPAP(src);
else
flag = PrepareClassical(src);
if(flag == 0 && is_try_gpu_)
{
flag = initGPU(num_images);
if(flag != 0)
return flag;
C2GInitData *c2g_data = new C2GInitData[num_images];
for(int i = 0; i < num_images; i++)
{
c2g_data[i].xmap = xmaps_[i].ptr<float>(0);
c2g_data[i].ymap = ymaps_[i].ptr<float>(0);