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import java.util.ArrayList;
import java.util.List;
import org.opencv.core.*;
import org.opencv.core.Range;
import org.opencv.highgui.HighGui;
import org.opencv.imgcodecs.Imgcodecs;
import org.opencv.imgproc.Imgproc;
class PanoramaStitchingRotatingCameraRun {
void basicPanoramaStitching (String[] args) {
String img1path = args[0], img2path = args[1];
Mat img1 = new Mat(), img2 = new Mat();
img1 = Imgcodecs.imread(img1path);
img2 = Imgcodecs.imread(img2path);
//! [camera-pose-from-Blender-at-location-1]
Mat c1Mo = new Mat( 4, 4, CvType.CV_64FC1 );
c1Mo.put(0 ,0 ,0.9659258723258972, 0.2588190734386444, 0.0, 1.5529145002365112,
0.08852133899927139, -0.3303661346435547, -0.9396926164627075, -0.10281121730804443,
-0.24321036040782928, 0.9076734185218811, -0.342020183801651, 6.130080699920654,
0, 0, 0, 1 );
//! [camera-pose-from-Blender-at-location-1]
//! [camera-pose-from-Blender-at-location-2]
Mat c2Mo = new Mat( 4, 4, CvType.CV_64FC1 );
c2Mo.put(0, 0, 0.9659258723258972, -0.2588190734386444, 0.0, -1.5529145002365112,
-0.08852133899927139, -0.3303661346435547, -0.9396926164627075, -0.10281121730804443,
0.24321036040782928, 0.9076734185218811, -0.342020183801651, 6.130080699920654,
0, 0, 0, 1);
//! [camera-pose-from-Blender-at-location-2]
//! [camera-intrinsics-from-Blender]
Mat cameraMatrix = new Mat(3, 3, CvType.CV_64FC1);
cameraMatrix.put(0, 0, 700.0, 0.0, 320.0, 0.0, 700.0, 240.0, 0, 0, 1 );
//! [camera-intrinsics-from-Blender]
//! [extract-rotation]
Range rowRange = new Range(0,3);
Range colRange = new Range(0,3);
//! [extract-rotation]
//! [compute-rotation-displacement]
//c1Mo * oMc2
Mat R1 = new Mat(c1Mo, rowRange, colRange);
Mat R2 = new Mat(c2Mo, rowRange, colRange);
Mat R_2to1 = new Mat();
Core.gemm(R1, R2.t(), 1, new Mat(), 0, R_2to1 );
//! [compute-rotation-displacement]
//! [compute-homography]
Mat tmp = new Mat(), H = new Mat();
Core.gemm(cameraMatrix, R_2to1, 1, new Mat(), 0, tmp);
Core.gemm(tmp, cameraMatrix.inv(), 1, new Mat(), 0, H);
Scalar s = new Scalar(H.get(2, 2)[0]);
Core.divide(H, s, H);
System.out.println(H.dump());
//! [compute-homography]
//! [stitch]
Mat img_stitch = new Mat();
Imgproc.warpPerspective(img2, img_stitch, H, new Size(img2.cols()*2, img2.rows()) );
Mat half = new Mat();
half = new Mat(img_stitch, new Rect(0, 0, img1.cols(), img1.rows()));
img1.copyTo(half);
//! [stitch]
Mat img_compare = new Mat();
Mat img_space = Mat.zeros(new Size(50, img1.rows()), CvType.CV_8UC3);
List<Mat>list = new ArrayList<>();
list.add(img1);
list.add(img_space);
list.add(img2);
Core.hconcat(list, img_compare);
HighGui.imshow("Compare Images", img_compare);
HighGui.imshow("Panorama Stitching", img_stitch);
HighGui.waitKey(0);
System.exit(0);
}
}
public class PanoramaStitchingRotatingCamera {
public static void main(String[] args) {
System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
new PanoramaStitchingRotatingCameraRun().basicPanoramaStitching(args);
}
}