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Commit d3386441 authored by LaurentBerger's avatar LaurentBerger
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Issue 14047

parent 3f421223
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Showing with 157 additions and 156 deletions
samples/python/stitching_detailed.py
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......@@ -64,80 +64,81 @@ import cv2 as cv
import sys
import argparse
parser = argparse.ArgumentParser(description='stitching_detailed')
parser.add_argument('img_names', nargs='+',help='files to stitch',type=str)
parser.add_argument('--preview',help='Run stitching in the preview mode. Works faster than usual mode but output image will have lower resolution.',type=bool,dest = 'preview' )
parser.add_argument('--try_cuda',action = 'store', default = False,help='Try to use CUDA. The default value is no. All default values are for CPU mode.',type=bool,dest = 'try_cuda' )
parser.add_argument('--work_megapix',action = 'store', default = 0.6,help=' Resolution for image registration step. The default is 0.6 Mpx',type=float,dest = 'work_megapix' )
parser.add_argument('--features',action = 'store', default = 'orb',help='Type of features used for images matching. The default is orb.',type=str,dest = 'features' )
parser.add_argument('--matcher',action = 'store', default = 'homography',help='Matcher used for pairwise image matching.',type=str,dest = 'matcher' )
parser.add_argument('--estimator',action = 'store', default = 'homography',help='Type of estimator used for transformation estimation.',type=str,dest = 'estimator' )
parser.add_argument('--match_conf',action = 'store', default = 0.3,help='Confidence for feature matching step. The default is 0.65 for surf and 0.3 for orb.',type=float,dest = 'match_conf' )
parser.add_argument('--conf_thresh',action = 'store', default = 1.0,help='Threshold for two images are from the same panorama confidence.The default is 1.0.',type=float,dest = 'conf_thresh' )
parser.add_argument('--ba',action = 'store', default = 'ray',help='Bundle adjustment cost function. The default is ray.',type=str,dest = 'ba' )
parser.add_argument('--ba_refine_mask',action = 'store', default = 'xxxxx',help='Set refinement mask for bundle adjustment. mask is "xxxxx"',type=str,dest = 'ba_refine_mask' )
parser.add_argument('--wave_correct',action = 'store', default = 'horiz',help='Perform wave effect correction. The default is "horiz"',type=str,dest = 'wave_correct' )
parser.add_argument('--save_graph',action = 'store', default = None,help='Save matches graph represented in DOT language to <file_name> file.',type=str,dest = 'save_graph' )
parser.add_argument('--warp',action = 'store', default = 'plane',help='Warp surface type. The default is "spherical".',type=str,dest = 'warp' )
parser.add_argument('--seam_megapix',action = 'store', default = 0.1,help=' Resolution for seam estimation step. The default is 0.1 Mpx.',type=float,dest = 'seam_megapix' )
parser.add_argument('--seam',action = 'store', default = 'no',help='Seam estimation method. The default is "gc_color".',type=str,dest = 'seam' )
parser.add_argument('--compose_megapix',action = 'store', default = -1,help='Resolution for compositing step. Use -1 for original resolution.',type=float,dest = 'compose_megapix' )
parser.add_argument('--expos_comp',action = 'store', default = 'no',help='Exposure compensation method. The default is "gain_blocks".',type=str,dest = 'expos_comp' )
parser.add_argument('--expos_comp_nr_feeds',action = 'store', default = 1,help='Number of exposure compensation feed.',type=np.int32,dest = 'expos_comp_nr_feeds' )
parser.add_argument('--expos_comp_nr_filtering',action = 'store', default = 2,help='Number of filtering iterations of the exposure compensation gains',type=float,dest = 'expos_comp_nr_filtering' )
parser.add_argument('--expos_comp_block_size',action = 'store', default = 32,help='BLock size in pixels used by the exposure compensator.',type=np.int32,dest = 'expos_comp_block_size' )
parser.add_argument('--blend',action = 'store', default = 'multiband',help='Blending method. The default is "multiband".',type=str,dest = 'blend' )
parser.add_argument('--blend_strength',action = 'store', default = 5,help='Blending strength from [0,100] range.',type=np.int32,dest = 'blend_strength' )
parser.add_argument('--output',action = 'store', default = 'result.jpg',help='The default is "result.jpg"',type=str,dest = 'output' )
parser.add_argument('--timelapse',action = 'store', default = None,help='Output warped images separately as frames of a time lapse movie, with "fixed_" prepended to input file names.',type=str,dest = 'timelapse' )
parser.add_argument('--rangewidth',action = 'store', default = -1,help='uses range_width to limit number of images to match with.',type=int,dest = 'rangewidth' )
args = parser.parse_args()
img_names=args.img_names
print(img_names)
preview = args.preview
try_cuda = args.try_cuda
work_megapix = args.work_megapix
seam_megapix = args.seam_megapix
compose_megapix = args.compose_megapix
conf_thresh = args.conf_thresh
features_type = args.features
matcher_type = args.matcher
estimator_type = args.estimator
ba_cost_func = args.ba
ba_refine_mask = args.ba_refine_mask
wave_correct = args.wave_correct
if wave_correct=='no':
if __name__ == '__main__':
parser = argparse.ArgumentParser(description='stitching_detailed')
parser.add_argument('img_names', nargs='+',help='files to stitch',type=str)
parser.add_argument('--preview',help='Run stitching in the preview mode. Works faster than usual mode but output image will have lower resolution.',type=bool,dest = 'preview' )
parser.add_argument('--try_cuda',action = 'store', default = False,help='Try to use CUDA. The default value is no. All default values are for CPU mode.',type=bool,dest = 'try_cuda' )
parser.add_argument('--work_megapix',action = 'store', default = 0.6,help=' Resolution for image registration step. The default is 0.6 Mpx',type=float,dest = 'work_megapix' )
parser.add_argument('--features',action = 'store', default = 'orb',help='Type of features used for images matching. The default is orb.',type=str,dest = 'features' )
parser.add_argument('--matcher',action = 'store', default = 'homography',help='Matcher used for pairwise image matching.',type=str,dest = 'matcher' )
parser.add_argument('--estimator',action = 'store', default = 'homography',help='Type of estimator used for transformation estimation.',type=str,dest = 'estimator' )
parser.add_argument('--match_conf',action = 'store', default = 0.3,help='Confidence for feature matching step. The default is 0.65 for surf and 0.3 for orb.',type=float,dest = 'match_conf' )
parser.add_argument('--conf_thresh',action = 'store', default = 1.0,help='Threshold for two images are from the same panorama confidence.The default is 1.0.',type=float,dest = 'conf_thresh' )
parser.add_argument('--ba',action = 'store', default = 'ray',help='Bundle adjustment cost function. The default is ray.',type=str,dest = 'ba' )
parser.add_argument('--ba_refine_mask',action = 'store', default = 'xxxxx',help='Set refinement mask for bundle adjustment. mask is "xxxxx"',type=str,dest = 'ba_refine_mask' )
parser.add_argument('--wave_correct',action = 'store', default = 'horiz',help='Perform wave effect correction. The default is "horiz"',type=str,dest = 'wave_correct' )
parser.add_argument('--save_graph',action = 'store', default = None,help='Save matches graph represented in DOT language to <file_name> file.',type=str,dest = 'save_graph' )
parser.add_argument('--warp',action = 'store', default = 'plane',help='Warp surface type. The default is "spherical".',type=str,dest = 'warp' )
parser.add_argument('--seam_megapix',action = 'store', default = 0.1,help=' Resolution for seam estimation step. The default is 0.1 Mpx.',type=float,dest = 'seam_megapix' )
parser.add_argument('--seam',action = 'store', default = 'no',help='Seam estimation method. The default is "gc_color".',type=str,dest = 'seam' )
parser.add_argument('--compose_megapix',action = 'store', default = -1,help='Resolution for compositing step. Use -1 for original resolution.',type=float,dest = 'compose_megapix' )
parser.add_argument('--expos_comp',action = 'store', default = 'no',help='Exposure compensation method. The default is "gain_blocks".',type=str,dest = 'expos_comp' )
parser.add_argument('--expos_comp_nr_feeds',action = 'store', default = 1,help='Number of exposure compensation feed.',type=np.int32,dest = 'expos_comp_nr_feeds' )
parser.add_argument('--expos_comp_nr_filtering',action = 'store', default = 2,help='Number of filtering iterations of the exposure compensation gains',type=float,dest = 'expos_comp_nr_filtering' )
parser.add_argument('--expos_comp_block_size',action = 'store', default = 32,help='BLock size in pixels used by the exposure compensator.',type=np.int32,dest = 'expos_comp_block_size' )
parser.add_argument('--blend',action = 'store', default = 'multiband',help='Blending method. The default is "multiband".',type=str,dest = 'blend' )
parser.add_argument('--blend_strength',action = 'store', default = 5,help='Blending strength from [0,100] range.',type=np.int32,dest = 'blend_strength' )
parser.add_argument('--output',action = 'store', default = 'result.jpg',help='The default is "result.jpg"',type=str,dest = 'output' )
parser.add_argument('--timelapse',action = 'store', default = None,help='Output warped images separately as frames of a time lapse movie, with "fixed_" prepended to input file names.',type=str,dest = 'timelapse' )
parser.add_argument('--rangewidth',action = 'store', default = -1,help='uses range_width to limit number of images to match with.',type=int,dest = 'rangewidth' )
args = parser.parse_args()
img_names=args.img_names
print(img_names)
preview = args.preview
try_cuda = args.try_cuda
work_megapix = args.work_megapix
seam_megapix = args.seam_megapix
compose_megapix = args.compose_megapix
conf_thresh = args.conf_thresh
features_type = args.features
matcher_type = args.matcher
estimator_type = args.estimator
ba_cost_func = args.ba
ba_refine_mask = args.ba_refine_mask
wave_correct = args.wave_correct
if wave_correct=='no':
do_wave_correct= False
else:
else:
do_wave_correct=True
if args.save_graph is None:
if args.save_graph is None:
save_graph = False
else:
else:
save_graph =True
save_graph_to = args.save_graph
warp_type = args.warp
if args.expos_comp=='no':
warp_type = args.warp
if args.expos_comp=='no':
expos_comp_type = cv.detail.ExposureCompensator_NO
elif args.expos_comp=='gain':
elif args.expos_comp=='gain':
expos_comp_type = cv.detail.ExposureCompensator_GAIN
elif args.expos_comp=='gain_blocks':
elif args.expos_comp=='gain_blocks':
expos_comp_type = cv.detail.ExposureCompensator_GAIN_BLOCKS
elif args.expos_comp=='channel':
elif args.expos_comp=='channel':
expos_comp_type = cv.detail.ExposureCompensator_CHANNELS
elif args.expos_comp=='channel_blocks':
elif args.expos_comp=='channel_blocks':
expos_comp_type = cv.detail.ExposureCompensator_CHANNELS_BLOCKS
else:
else:
print("Bad exposure compensation method")
exit()
expos_comp_nr_feeds = args.expos_comp_nr_feeds
expos_comp_nr_filtering = args.expos_comp_nr_filtering
expos_comp_block_size = args.expos_comp_block_size
match_conf = args.match_conf
seam_find_type = args.seam
blend_type = args.blend
blend_strength = args.blend_strength
result_name = args.output
if args.timelapse is not None:
expos_comp_nr_feeds = args.expos_comp_nr_feeds
expos_comp_nr_filtering = args.expos_comp_nr_filtering
expos_comp_block_size = args.expos_comp_block_size
match_conf = args.match_conf
seam_find_type = args.seam
blend_type = args.blend
blend_strength = args.blend_strength
result_name = args.output
if args.timelapse is not None:
timelapse = True
if args.timelapse=="as_is":
timelapse_type = cv.detail.Timelapser_AS_IS
......@@ -146,26 +147,26 @@ if args.timelapse is not None:
else:
print("Bad timelapse method")
exit()
else:
else:
timelapse= False
range_width = args.rangewidth
if features_type=='orb':
range_width = args.rangewidth
if features_type=='orb':
finder= cv.ORB.create()
elif features_type=='surf':
elif features_type=='surf':
finder= cv.xfeatures2d_SURF.create()
elif features_type=='sift':
elif features_type=='sift':
finder= cv.xfeatures2d_SIFT.create()
else:
else:
print ("Unknown descriptor type")
exit()
seam_work_aspect = 1
full_img_sizes=[]
features=[]
images=[]
is_work_scale_set = False
is_seam_scale_set = False
is_compose_scale_set = False;
for name in img_names:
seam_work_aspect = 1
full_img_sizes=[]
features=[]
images=[]
is_work_scale_set = False
is_seam_scale_set = False
is_compose_scale_set = False;
for name in img_names:
full_img = cv.imread(name)
if full_img is None:
print("Cannot read image ",name)
......@@ -188,101 +189,101 @@ for name in img_names:
features.append(imgFea)
img = cv.resize(src=full_img, dsize=None, fx=seam_scale, fy=seam_scale, interpolation=cv.INTER_LINEAR_EXACT)
images.append(img)
if matcher_type== "affine":
if matcher_type== "affine":
matcher = cv.detail_AffineBestOf2NearestMatcher(False, try_cuda, match_conf)
elif range_width==-1:
elif range_width==-1:
matcher = cv.detail.BestOf2NearestMatcher_create(try_cuda, match_conf)
else:
else:
matcher = cv.detail.BestOf2NearestRangeMatcher_create(range_width, try_cuda, match_conf)
p=matcher.apply2(features)
matcher.collectGarbage()
if save_graph:
p=matcher.apply2(features)
matcher.collectGarbage()
if save_graph:
f = open(save_graph_to,"w")
f.write(cv.detail.matchesGraphAsString(img_names, p, conf_thresh))
f.close()
indices=cv.detail.leaveBiggestComponent(features,p,0.3)
img_subset =[]
img_names_subset=[]
full_img_sizes_subset=[]
num_images=len(indices)
for i in range(len(indices)):
indices=cv.detail.leaveBiggestComponent(features,p,0.3)
img_subset =[]
img_names_subset=[]
full_img_sizes_subset=[]
num_images=len(indices)
for i in range(len(indices)):
img_names_subset.append(img_names[indices[i,0]])
img_subset.append(images[indices[i,0]])
full_img_sizes_subset.append(full_img_sizes[indices[i,0]])
images = img_subset;
img_names = img_names_subset;
full_img_sizes = full_img_sizes_subset;
num_images = len(img_names)
if num_images < 2:
images = img_subset;
img_names = img_names_subset;
full_img_sizes = full_img_sizes_subset;
num_images = len(img_names)
if num_images < 2:
print("Need more images")
exit()
if estimator_type == "affine":
if estimator_type == "affine":
estimator = cv.detail_AffineBasedEstimator()
else:
else:
estimator = cv.detail_HomographyBasedEstimator()
b, cameras =estimator.apply(features,p,None)
if not b:
b, cameras =estimator.apply(features,p,None)
if not b:
print("Homography estimation failed.")
exit()
for cam in cameras:
for cam in cameras:
cam.R=cam.R.astype(np.float32)
if ba_cost_func == "reproj":
if ba_cost_func == "reproj":
adjuster = cv.detail_BundleAdjusterReproj()
elif ba_cost_func == "ray":
elif ba_cost_func == "ray":
adjuster = cv.detail_BundleAdjusterRay()
elif ba_cost_func == "affine":
elif ba_cost_func == "affine":
adjuster = cv.detail_BundleAdjusterAffinePartial()
elif ba_cost_func == "no":
elif ba_cost_func == "no":
adjuster = cv.detail_NoBundleAdjuster()
else:
else:
print( "Unknown bundle adjustment cost function: ", ba_cost_func )
exit()
adjuster.setConfThresh(1)
refine_mask=np.zeros((3,3),np.uint8)
if ba_refine_mask[0] == 'x':
adjuster.setConfThresh(1)
refine_mask=np.zeros((3,3),np.uint8)
if ba_refine_mask[0] == 'x':
refine_mask[0,0] = 1
if ba_refine_mask[1] == 'x':
if ba_refine_mask[1] == 'x':
refine_mask[0,1] = 1
if ba_refine_mask[2] == 'x':
if ba_refine_mask[2] == 'x':
refine_mask[0,2] = 1
if ba_refine_mask[3] == 'x':
if ba_refine_mask[3] == 'x':
refine_mask[1,1] = 1
if ba_refine_mask[4] == 'x':
if ba_refine_mask[4] == 'x':
refine_mask[1,2] = 1
adjuster.setRefinementMask(refine_mask)
b,cameras = adjuster.apply(features,p,cameras)
if not b:
adjuster.setRefinementMask(refine_mask)
b,cameras = adjuster.apply(features,p,cameras)
if not b:
print("Camera parameters adjusting failed.")
exit()
focals=[]
for cam in cameras:
focals=[]
for cam in cameras:
focals.append(cam.focal)
sorted(focals)
if len(focals)%2==1:
sorted(focals)
if len(focals)%2==1:
warped_image_scale = focals[len(focals) // 2]
else:
else:
warped_image_scale = (focals[len(focals) // 2]+focals[len(focals) // 2-1])/2
if do_wave_correct:
if do_wave_correct:
rmats=[]
for cam in cameras:
rmats.append(np.copy(cam.R))
rmats = cv.detail.waveCorrect( rmats, cv.detail.WAVE_CORRECT_HORIZ)
for idx,cam in enumerate(cameras):
cam.R = rmats[idx]
corners=[]
mask=[]
masks_warped=[]
images_warped=[]
sizes=[]
masks=[]
for i in range(0,num_images):
corners=[]
mask=[]
masks_warped=[]
images_warped=[]
sizes=[]
masks=[]
for i in range(0,num_images):
um=cv.UMat(255*np.ones((images[i].shape[0],images[i].shape[1]),np.uint8))
masks.append(um)
warper = cv.PyRotationWarper(warp_type,warped_image_scale*seam_work_aspect) # warper peut etre nullptr?
for idx in range(0,num_images):
warper = cv.PyRotationWarper(warp_type,warped_image_scale*seam_work_aspect) # warper peut etre nullptr?
for idx in range(0,num_images):
K = cameras[idx].K().astype(np.float32)
swa = seam_work_aspect
K[0,0] *= swa
......@@ -296,46 +297,46 @@ for idx in range(0,num_images):
p,mask_wp =warper.warp(masks[idx],K,cameras[idx].R,cv.INTER_NEAREST, cv.BORDER_CONSTANT)
masks_warped.append(mask_wp.get())
images_warped_f=[]
for img in images_warped:
images_warped_f=[]
for img in images_warped:
imgf=img.astype(np.float32)
images_warped_f.append(imgf)
if cv.detail.ExposureCompensator_CHANNELS == expos_comp_type:
if cv.detail.ExposureCompensator_CHANNELS == expos_comp_type:
compensator = cv.detail_ChannelsCompensator(expos_comp_nr_feeds)
# compensator.setNrGainsFilteringIterations(expos_comp_nr_filtering)
elif cv.detail.ExposureCompensator_CHANNELS_BLOCKS == expos_comp_type:
# compensator.setNrGainsFilteringIterations(expos_comp_nr_filtering)
elif cv.detail.ExposureCompensator_CHANNELS_BLOCKS == expos_comp_type:
compensator=cv.detail_BlocksChannelsCompensator(expos_comp_block_size, expos_comp_block_size,expos_comp_nr_feeds)
# compensator.setNrGainsFilteringIterations(expos_comp_nr_filtering)
else:
# compensator.setNrGainsFilteringIterations(expos_comp_nr_filtering)
else:
compensator=cv.detail.ExposureCompensator_createDefault(expos_comp_type)
compensator.feed(corners=corners, images=images_warped, masks=masks_warped)
if seam_find_type == "no":
compensator.feed(corners=corners, images=images_warped, masks=masks_warped)
if seam_find_type == "no":
seam_finder = cv.detail.SeamFinder_createDefault(cv.detail.SeamFinder_NO)
elif seam_find_type == "voronoi":
elif seam_find_type == "voronoi":
seam_finder = cv.detail.SeamFinder_createDefault(cv.detail.SeamFinder_VORONOI_SEAM);
elif seam_find_type == "gc_color":
elif seam_find_type == "gc_color":
seam_finder = cv.detail_GraphCutSeamFinder("COST_COLOR")
elif seam_find_type == "gc_colorgrad":
elif seam_find_type == "gc_colorgrad":
seam_finder = cv.detail_GraphCutSeamFinder("COST_COLOR_GRAD")
elif seam_find_type == "dp_color":
elif seam_find_type == "dp_color":
seam_finder = cv.detail_DpSeamFinder("COLOR")
elif seam_find_type == "dp_colorgrad":
elif seam_find_type == "dp_colorgrad":
seam_finder = cv.detail_DpSeamFinder("COLOR_GRAD")
if seam_finder is None:
if seam_finder is None:
print("Can't create the following seam finder ",seam_find_type)
exit()
seam_finder.find(images_warped_f, corners,masks_warped )
imgListe=[]
compose_scale=1
corners=[]
sizes=[]
images_warped=[]
images_warped_f=[]
masks=[]
blender= None
timelapser=None
compose_work_aspect=1
for idx,name in enumerate(img_names): # https://github.com/opencv/opencv/blob/master/samples/cpp/stitching_detailed.cpp#L725 ?
seam_finder.find(images_warped_f, corners,masks_warped )
imgListe=[]
compose_scale=1
corners=[]
sizes=[]
images_warped=[]
images_warped_f=[]
masks=[]
blender= None
timelapser=None
compose_work_aspect=1
for idx,name in enumerate(img_names): # https://github.com/opencv/opencv/blob/master/samples/cpp/stitching_detailed.cpp#L725 ?
full_img = cv.imread(name)
if not is_compose_scale_set:
if compose_megapix > 0:
......@@ -395,7 +396,7 @@ for idx,name in enumerate(img_names): # https://github.com/opencv/opencv/blob/ma
cv.imwrite(fixedFileName, timelapser.getDst())
else:
blender.feed(cv.UMat(image_warped_s), mask_warped, corners[idx])
if not timelapse:
if not timelapse:
result=None
result_mask=None
result,result_mask = blender.blend(result,result_mask)
......
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