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sungloksunglok
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Add image stitching
1 parent 253f8e1 commit 99d7bff

8 files changed

Lines changed: 163 additions & 3 deletions

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‎bin/data/hill01.jpg‎

67.5 KB
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‎bin/data/hill02.jpg‎

64.8 KB
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‎msvs/3dv_tutorial.sln‎

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@@ -17,6 +17,8 @@ Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "pose_estimation", "pose_est
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EndProject
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "perspective_correction", "perspective_correction\perspective_correction.vcxproj", "{53A4EA3F-D463-4D4F-A991-77A16129D664}"
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EndProject
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Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "image_stitching", "image_stitching\image_stitching.vcxproj", "{C6A12B5E-7F27-4316-9B09-BD93595A033A}"
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EndProject
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Global
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GlobalSection(SolutionConfigurationPlatforms) = preSolution
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Debug|Win32 = Debug|Win32
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{53A4EA3F-D463-4D4F-A991-77A16129D664}.Debug|Win32.Build.0 = Debug|Win32
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{53A4EA3F-D463-4D4F-A991-77A16129D664}.Release|Win32.ActiveCfg = Release|Win32
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{53A4EA3F-D463-4D4F-A991-77A16129D664}.Release|Win32.Build.0 = Release|Win32
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{C6A12B5E-7F27-4316-9B09-BD93595A033A}.Debug|Win32.ActiveCfg = Debug|Win32
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{C6A12B5E-7F27-4316-9B09-BD93595A033A}.Debug|Win32.Build.0 = Debug|Win32
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{C6A12B5E-7F27-4316-9B09-BD93595A033A}.Release|Win32.ActiveCfg = Release|Win32
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{C6A12B5E-7F27-4316-9B09-BD93595A033A}.Release|Win32.Build.0 = Release|Win32
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EndGlobalSection
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GlobalSection(SolutionProperties) = preSolution
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HideSolutionNode = FALSE

‎msvs/image_stitching/image_stitching.vcxproj‎

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<ProjectConfiguration Include="Release|Win32">
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<Configuration>Release</Configuration>
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<ProjectGuid>{C6A12B5E-7F27-4316-9B09-BD93595A033A}</ProjectGuid>
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<ClCompile Include="..\..\src\image_stitching.cpp" />
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‎msvs/image_stitching/image_stitching.vcxproj.user‎

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<?xml version="1.0" encoding="utf-8"?>
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<Project ToolsVersion="12.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
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</Project>

‎src/camera_calibration.cpp‎

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int main(void)
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{
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bool select_images = false;
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bool select_images = true;
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cv::Size board_pattern(10, 7);
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double board_cellsize = 0.025;
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// Open an video
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cv::VideoCapture video;
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if (!video.open("data/chessboard/%02d.png")) return -1;
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if (!video.open("data/chessboard.avi")) return -1;
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// Select images
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std::vector<cv::Mat> images;

‎src/image_generation.cpp‎

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cv::imshow(cv::format("3DV_Tutorial: Image Generation %d", i), image);
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cv::waitKey(0);
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std::ofstream fout(cv::format("camera_points%d.csv", i));
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std::ofstream fout(cv::format("image_generation%d.csv", i));
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if (!fout.is_open()) break;
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fout << cv::format(x.t(), cv::Formatter::FMT_CSV);
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fout.close();

‎src/image_stitching.cpp‎

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#include "opencv_all.hpp"
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int main(void)
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{
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// Load two images (c.f. Assume that two images have the same size and type)
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cv::Mat image1 = cv::imread("data/hill01.jpg");
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cv::Mat image2 = cv::imread("data/hill02.jpg");
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if (image1.empty() || image2.empty()) return -1;
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// Retrieve matching points
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cv::Mat gray1, gray2;
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if (image1.channels() > 1)
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{
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cv::cvtColor(image1, gray1, CV_RGB2GRAY);
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cv::cvtColor(image2, gray2, CV_RGB2GRAY);
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}
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else
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{
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gray1 = image1.clone();
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gray2 = image2.clone();
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}
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cv::Ptr<cv::FeatureDetector> detector = cv::xfeatures2d::SURF::create(); // SURF features
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std::vector<cv::KeyPoint> keypoint1, keypoint2;
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detector->detect(gray1, keypoint1);
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detector->detect(gray2, keypoint2);
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cv::Ptr<cv::FeatureDetector> extractor = cv::xfeatures2d::SURF::create(); // SURF descriptors
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cv::Mat descriptor1, descriptor2;
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extractor->compute(gray1, keypoint1, descriptor1);
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extractor->compute(gray2, keypoint2, descriptor2);
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cv::FlannBasedMatcher matcher; // Approximate Nearest Neighbors (ANN) matcher
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std::vector<cv::DMatch> match;
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matcher.match(descriptor1, descriptor2, match);
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// Calculate planar homography and merge them
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std::vector<cv::Point2f> points1, points2;
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for (size_t i = 0; i < match.size(); i++)
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{
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points1.push_back(keypoint1.at(match.at(i).queryIdx).pt);
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points2.push_back(keypoint2.at(match.at(i).trainIdx).pt);
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}
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cv::Mat H = cv::findHomography(points2, points1, cv::RANSAC);
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cv::Mat merge;
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cv::warpPerspective(image2, merge, H, cv::Size(image1.cols * 2, image1.rows));
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merge.colRange(0, image1.cols) = image1 * 1; // Copy
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// Show the merged image
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cv::imshow("3DV Tutorial: Image Stitching", merge);
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printf("Press any key to terminate tihs program!\n");
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cv::waitKey(0);
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return 0;
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}

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