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/samples/cpp/stitching_detailed.cpp

https://bitbucket.org/jtotz/opencv
C++ | 766 lines | 631 code | 72 blank | 63 comment | 238 complexity | 0cbad2039c3d62ac3e125e16a1046486 MD5 | raw file
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 43
 44#include <iostream>
 45#include <fstream>
 46#include <string>
 47#include "opencv2/opencv_modules.hpp"
 48#include "opencv2/highgui/highgui.hpp"
 49#include "opencv2/stitching/detail/autocalib.hpp"
 50#include "opencv2/stitching/detail/blenders.hpp"
 51#include "opencv2/stitching/detail/camera.hpp"
 52#include "opencv2/stitching/detail/exposure_compensate.hpp"
 53#include "opencv2/stitching/detail/matchers.hpp"
 54#include "opencv2/stitching/detail/motion_estimators.hpp"
 55#include "opencv2/stitching/detail/seam_finders.hpp"
 56#include "opencv2/stitching/detail/util.hpp"
 57#include "opencv2/stitching/detail/warpers.hpp"
 58#include "opencv2/stitching/warpers.hpp"
 59
 60using namespace std;
 61using namespace cv;
 62using namespace cv::detail;
 63
 64static void printUsage()
 65{
 66    cout <<
 67        "Rotation model images stitcher.\n\n"
 68        "stitching_detailed img1 img2 [...imgN] [flags]\n\n"
 69        "Flags:\n"
 70        "  --preview\n"
 71        "      Run stitching in the preview mode. Works faster than usual mode,\n"
 72        "      but output image will have lower resolution.\n"
 73        "  --try_gpu (yes|no)\n"
 74        "      Try to use GPU. The default value is 'no'. All default values\n"
 75        "      are for CPU mode.\n"
 76        "\nMotion Estimation Flags:\n"
 77        "  --work_megapix <float>\n"
 78        "      Resolution for image registration step. The default is 0.6 Mpx.\n"
 79        "  --features (surf|orb)\n"
 80        "      Type of features used for images matching. The default is surf.\n"
 81        "  --match_conf <float>\n"
 82        "      Confidence for feature matching step. The default is 0.65 for surf and 0.3 for orb.\n"
 83        "  --conf_thresh <float>\n"
 84        "      Threshold for two images are from the same panorama confidence.\n"
 85        "      The default is 1.0.\n"
 86        "  --ba (reproj|ray)\n"
 87        "      Bundle adjustment cost function. The default is ray.\n"
 88        "  --ba_refine_mask (mask)\n"
 89        "      Set refinement mask for bundle adjustment. It looks like 'x_xxx',\n"
 90        "      where 'x' means refine respective parameter and '_' means don't\n"
 91        "      refine one, and has the following format:\n"
 92        "      <fx><skew><ppx><aspect><ppy>. The default mask is 'xxxxx'. If bundle\n"
 93        "      adjustment doesn't support estimation of selected parameter then\n"
 94        "      the respective flag is ignored.\n"
 95        "  --wave_correct (no|horiz|vert)\n"
 96        "      Perform wave effect correction. The default is 'horiz'.\n"
 97        "  --save_graph <file_name>\n"
 98        "      Save matches graph represented in DOT language to <file_name> file.\n"
 99        "      Labels description: Nm is number of matches, Ni is number of inliers,\n"
100        "      C is confidence.\n"
101        "\nCompositing Flags:\n"
102        "  --warp (plane|cylindrical|spherical|fisheye|stereographic|compressedPlaneA2B1|compressedPlaneA1.5B1|compressedPlanePortraitA2B1|compressedPlanePortraitA1.5B1|paniniA2B1|paniniA1.5B1|paniniPortraitA2B1|paniniPortraitA1.5B1|mercator|transverseMercator)\n"
103        "      Warp surface type. The default is 'spherical'.\n"
104        "  --seam_megapix <float>\n"
105        "      Resolution for seam estimation step. The default is 0.1 Mpx.\n"
106        "  --seam (no|voronoi|gc_color|gc_colorgrad)\n"
107        "      Seam estimation method. The default is 'gc_color'.\n"
108        "  --compose_megapix <float>\n"
109        "      Resolution for compositing step. Use -1 for original resolution.\n"
110        "      The default is -1.\n"
111        "  --expos_comp (no|gain|gain_blocks)\n"
112        "      Exposure compensation method. The default is 'gain_blocks'.\n"
113        "  --blend (no|feather|multiband)\n"
114        "      Blending method. The default is 'multiband'.\n"
115        "  --blend_strength <float>\n"
116        "      Blending strength from [0,100] range. The default is 5.\n"
117        "  --output <result_img>\n"
118        "      The default is 'result.jpg'.\n";
119}
120
121
122// Default command line args
123vector<string> img_names;
124bool preview = false;
125bool try_gpu = false;
126double work_megapix = 0.6;
127double seam_megapix = 0.1;
128double compose_megapix = -1;
129float conf_thresh = 1.f;
130string features_type = "surf";
131string ba_cost_func = "ray";
132string ba_refine_mask = "xxxxx";
133bool do_wave_correct = true;
134WaveCorrectKind wave_correct = detail::WAVE_CORRECT_HORIZ;
135bool save_graph = false;
136std::string save_graph_to;
137string warp_type = "spherical";
138int expos_comp_type = ExposureCompensator::GAIN_BLOCKS;
139float match_conf = 0.3f;
140string seam_find_type = "gc_color";
141int blend_type = Blender::MULTI_BAND;
142float blend_strength = 5;
143string result_name = "result.jpg";
144
145static int parseCmdArgs(int argc, char** argv)
146{
147    if (argc == 1)
148    {
149        printUsage();
150        return -1;
151    }
152    for (int i = 1; i < argc; ++i)
153    {
154        if (string(argv[i]) == "--help" || string(argv[i]) == "/?")
155        {
156            printUsage();
157            return -1;
158        }
159        else if (string(argv[i]) == "--preview")
160        {
161            preview = true;
162        }
163        else if (string(argv[i]) == "--try_gpu")
164        {
165            if (string(argv[i + 1]) == "no")
166                try_gpu = false;
167            else if (string(argv[i + 1]) == "yes")
168                try_gpu = true;
169            else
170            {
171                cout << "Bad --try_gpu flag value\n";
172                return -1;
173            }
174            i++;
175        }
176        else if (string(argv[i]) == "--work_megapix")
177        {
178            work_megapix = atof(argv[i + 1]);
179            i++;
180        }
181        else if (string(argv[i]) == "--seam_megapix")
182        {
183            seam_megapix = atof(argv[i + 1]);
184            i++;
185        }
186        else if (string(argv[i]) == "--compose_megapix")
187        {
188            compose_megapix = atof(argv[i + 1]);
189            i++;
190        }
191        else if (string(argv[i]) == "--result")
192        {
193            result_name = argv[i + 1];
194            i++;
195        }
196        else if (string(argv[i]) == "--features")
197        {
198            features_type = argv[i + 1];
199            if (features_type == "orb")
200                match_conf = 0.3f;
201            i++;
202        }
203        else if (string(argv[i]) == "--match_conf")
204        {
205            match_conf = static_cast<float>(atof(argv[i + 1]));
206            i++;
207        }
208        else if (string(argv[i]) == "--conf_thresh")
209        {
210            conf_thresh = static_cast<float>(atof(argv[i + 1]));
211            i++;
212        }
213        else if (string(argv[i]) == "--ba")
214        {
215            ba_cost_func = argv[i + 1];
216            i++;
217        }
218        else if (string(argv[i]) == "--ba_refine_mask")
219        {
220            ba_refine_mask = argv[i + 1];
221            if (ba_refine_mask.size() != 5)
222            {
223                cout << "Incorrect refinement mask length.\n";
224                return -1;
225            }
226            i++;
227        }
228        else if (string(argv[i]) == "--wave_correct")
229        {
230            if (string(argv[i + 1]) == "no")
231                do_wave_correct = false;
232            else if (string(argv[i + 1]) == "horiz")
233            {
234                do_wave_correct = true;
235                wave_correct = detail::WAVE_CORRECT_HORIZ;
236            }
237            else if (string(argv[i + 1]) == "vert")
238            {
239                do_wave_correct = true;
240                wave_correct = detail::WAVE_CORRECT_VERT;
241            }
242            else
243            {
244                cout << "Bad --wave_correct flag value\n";
245                return -1;
246            }
247            i++;
248        }
249        else if (string(argv[i]) == "--save_graph")
250        {
251            save_graph = true;
252            save_graph_to = argv[i + 1];
253            i++;
254        }
255        else if (string(argv[i]) == "--warp")
256        {
257            warp_type = string(argv[i + 1]);
258            i++;
259        }
260        else if (string(argv[i]) == "--expos_comp")
261        {
262            if (string(argv[i + 1]) == "no")
263                expos_comp_type = ExposureCompensator::NO;
264            else if (string(argv[i + 1]) == "gain")
265                expos_comp_type = ExposureCompensator::GAIN;
266            else if (string(argv[i + 1]) == "gain_blocks")
267                expos_comp_type = ExposureCompensator::GAIN_BLOCKS;
268            else
269            {
270                cout << "Bad exposure compensation method\n";
271                return -1;
272            }
273            i++;
274        }
275        else if (string(argv[i]) == "--seam")
276        {
277            if (string(argv[i + 1]) == "no" ||
278                string(argv[i + 1]) == "voronoi" ||
279                string(argv[i + 1]) == "gc_color" ||
280                string(argv[i + 1]) == "gc_colorgrad" ||
281                string(argv[i + 1]) == "dp_color" ||
282                string(argv[i + 1]) == "dp_colorgrad")
283                seam_find_type = argv[i + 1];
284            else
285            {
286                cout << "Bad seam finding method\n";
287                return -1;
288            }
289            i++;
290        }
291        else if (string(argv[i]) == "--blend")
292        {
293            if (string(argv[i + 1]) == "no")
294                blend_type = Blender::NO;
295            else if (string(argv[i + 1]) == "feather")
296                blend_type = Blender::FEATHER;
297            else if (string(argv[i + 1]) == "multiband")
298                blend_type = Blender::MULTI_BAND;
299            else
300            {
301                cout << "Bad blending method\n";
302                return -1;
303            }
304            i++;
305        }
306        else if (string(argv[i]) == "--blend_strength")
307        {
308            blend_strength = static_cast<float>(atof(argv[i + 1]));
309            i++;
310        }
311        else if (string(argv[i]) == "--output")
312        {
313            result_name = argv[i + 1];
314            i++;
315        }
316        else
317            img_names.push_back(argv[i]);
318    }
319    if (preview)
320    {
321        compose_megapix = 0.6;
322    }
323    return 0;
324}
325
326
327int main(int argc, char* argv[])
328{
329#if ENABLE_LOG
330    int64 app_start_time = getTickCount();
331#endif
332
333    cv::setBreakOnError(true);
334
335    int retval = parseCmdArgs(argc, argv);
336    if (retval)
337        return retval;
338
339    // Check if have enough images
340    int num_images = static_cast<int>(img_names.size());
341    if (num_images < 2)
342    {
343        LOGLN("Need more images");
344        return -1;
345    }
346
347    double work_scale = 1, seam_scale = 1, compose_scale = 1;
348    bool is_work_scale_set = false, is_seam_scale_set = false, is_compose_scale_set = false;
349
350    LOGLN("Finding features...");
351#if ENABLE_LOG
352    int64 t = getTickCount();
353#endif
354
355    Ptr<FeaturesFinder> finder;
356    if (features_type == "surf")
357    {
358#ifdef HAVE_OPENCV_GPU
359        if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
360            finder = new SurfFeaturesFinderGpu();
361        else
362#endif
363            finder = new SurfFeaturesFinder();
364    }
365    else if (features_type == "orb")
366    {
367        finder = new OrbFeaturesFinder();
368    }
369    else
370    {
371        cout << "Unknown 2D features type: '" << features_type << "'.\n";
372        return -1;
373    }
374
375    Mat full_img, img;
376    vector<ImageFeatures> features(num_images);
377    vector<Mat> images(num_images);
378    vector<Size> full_img_sizes(num_images);
379    double seam_work_aspect = 1;
380
381    for (int i = 0; i < num_images; ++i)
382    {
383        full_img = imread(img_names[i]);
384        full_img_sizes[i] = full_img.size();
385
386        if (full_img.empty())
387        {
388            LOGLN("Can't open image " << img_names[i]);
389            return -1;
390        }
391        if (work_megapix < 0)
392        {
393            img = full_img;
394            work_scale = 1;
395            is_work_scale_set = true;
396        }
397        else
398        {
399            if (!is_work_scale_set)
400            {
401                work_scale = min(1.0, sqrt(work_megapix * 1e6 / full_img.size().area()));
402                is_work_scale_set = true;
403            }
404            resize(full_img, img, Size(), work_scale, work_scale);
405        }
406        if (!is_seam_scale_set)
407        {
408            seam_scale = min(1.0, sqrt(seam_megapix * 1e6 / full_img.size().area()));
409            seam_work_aspect = seam_scale / work_scale;
410            is_seam_scale_set = true;
411        }
412
413        (*finder)(img, features[i]);
414        features[i].img_idx = i;
415        LOGLN("Features in image #" << i+1 << ": " << features[i].keypoints.size());
416
417        resize(full_img, img, Size(), seam_scale, seam_scale);
418        images[i] = img.clone();
419    }
420
421    finder->collectGarbage();
422    full_img.release();
423    img.release();
424
425    LOGLN("Finding features, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
426
427    LOG("Pairwise matching");
428#if ENABLE_LOG
429    t = getTickCount();
430#endif
431    vector<MatchesInfo> pairwise_matches;
432    BestOf2NearestMatcher matcher(try_gpu, match_conf);
433    matcher(features, pairwise_matches);
434    matcher.collectGarbage();
435    LOGLN("Pairwise matching, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
436
437    // Check if we should save matches graph
438    if (save_graph)
439    {
440        LOGLN("Saving matches graph...");
441        ofstream f(save_graph_to.c_str());
442        f << matchesGraphAsString(img_names, pairwise_matches, conf_thresh);
443    }
444
445    // Leave only images we are sure are from the same panorama
446    vector<int> indices = leaveBiggestComponent(features, pairwise_matches, conf_thresh);
447    vector<Mat> img_subset;
448    vector<string> img_names_subset;
449    vector<Size> full_img_sizes_subset;
450    for (size_t i = 0; i < indices.size(); ++i)
451    {
452        img_names_subset.push_back(img_names[indices[i]]);
453        img_subset.push_back(images[indices[i]]);
454        full_img_sizes_subset.push_back(full_img_sizes[indices[i]]);
455    }
456
457    images = img_subset;
458    img_names = img_names_subset;
459    full_img_sizes = full_img_sizes_subset;
460
461    // Check if we still have enough images
462    num_images = static_cast<int>(img_names.size());
463    if (num_images < 2)
464    {
465        LOGLN("Need more images");
466        return -1;
467    }
468
469    HomographyBasedEstimator estimator;
470    vector<CameraParams> cameras;
471    estimator(features, pairwise_matches, cameras);
472
473    for (size_t i = 0; i < cameras.size(); ++i)
474    {
475        Mat R;
476        cameras[i].R.convertTo(R, CV_32F);
477        cameras[i].R = R;
478        LOGLN("Initial intrinsics #" << indices[i]+1 << ":\n" << cameras[i].K());
479    }
480
481    Ptr<detail::BundleAdjusterBase> adjuster;
482    if (ba_cost_func == "reproj") adjuster = new detail::BundleAdjusterReproj();
483    else if (ba_cost_func == "ray") adjuster = new detail::BundleAdjusterRay();
484    else
485    {
486        cout << "Unknown bundle adjustment cost function: '" << ba_cost_func << "'.\n";
487        return -1;
488    }
489    adjuster->setConfThresh(conf_thresh);
490    Mat_<uchar> refine_mask = Mat::zeros(3, 3, CV_8U);
491    if (ba_refine_mask[0] == 'x') refine_mask(0,0) = 1;
492    if (ba_refine_mask[1] == 'x') refine_mask(0,1) = 1;
493    if (ba_refine_mask[2] == 'x') refine_mask(0,2) = 1;
494    if (ba_refine_mask[3] == 'x') refine_mask(1,1) = 1;
495    if (ba_refine_mask[4] == 'x') refine_mask(1,2) = 1;
496    adjuster->setRefinementMask(refine_mask);
497    (*adjuster)(features, pairwise_matches, cameras);
498
499    // Find median focal length
500
501    vector<double> focals;
502    for (size_t i = 0; i < cameras.size(); ++i)
503    {
504        LOGLN("Camera #" << indices[i]+1 << ":\n" << cameras[i].K());
505        focals.push_back(cameras[i].focal);
506    }
507
508    sort(focals.begin(), focals.end());
509    float warped_image_scale;
510    if (focals.size() % 2 == 1)
511        warped_image_scale = static_cast<float>(focals[focals.size() / 2]);
512    else
513        warped_image_scale = static_cast<float>(focals[focals.size() / 2 - 1] + focals[focals.size() / 2]) * 0.5f;
514
515    if (do_wave_correct)
516    {
517        vector<Mat> rmats;
518        for (size_t i = 0; i < cameras.size(); ++i)
519            rmats.push_back(cameras[i].R);
520        waveCorrect(rmats, wave_correct);
521        for (size_t i = 0; i < cameras.size(); ++i)
522            cameras[i].R = rmats[i];
523    }
524
525    LOGLN("Warping images (auxiliary)... ");
526#if ENABLE_LOG
527    t = getTickCount();
528#endif
529
530    vector<Point> corners(num_images);
531    vector<Mat> masks_warped(num_images);
532    vector<Mat> images_warped(num_images);
533    vector<Size> sizes(num_images);
534    vector<Mat> masks(num_images);
535
536    // Preapre images masks
537    for (int i = 0; i < num_images; ++i)
538    {
539        masks[i].create(images[i].size(), CV_8U);
540        masks[i].setTo(Scalar::all(255));
541    }
542
543    // Warp images and their masks
544
545    Ptr<WarperCreator> warper_creator;
546#ifdef HAVE_OPENCV_GPU
547    if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
548    {
549        if (warp_type == "plane") warper_creator = new cv::PlaneWarperGpu();
550        else if (warp_type == "cylindrical") warper_creator = new cv::CylindricalWarperGpu();
551        else if (warp_type == "spherical") warper_creator = new cv::SphericalWarperGpu();
552    }
553    else
554#endif
555    {
556        if (warp_type == "plane") warper_creator = new cv::PlaneWarper();
557        else if (warp_type == "cylindrical") warper_creator = new cv::CylindricalWarper();
558        else if (warp_type == "spherical") warper_creator = new cv::SphericalWarper();
559        else if (warp_type == "fisheye") warper_creator = new cv::FisheyeWarper();
560        else if (warp_type == "stereographic") warper_creator = new cv::StereographicWarper();
561        else if (warp_type == "compressedPlaneA2B1") warper_creator = new cv::CompressedRectilinearWarper(2, 1);
562        else if (warp_type == "compressedPlaneA1.5B1") warper_creator = new cv::CompressedRectilinearWarper(1.5, 1);
563        else if (warp_type == "compressedPlanePortraitA2B1") warper_creator = new cv::CompressedRectilinearPortraitWarper(2, 1);
564        else if (warp_type == "compressedPlanePortraitA1.5B1") warper_creator = new cv::CompressedRectilinearPortraitWarper(1.5, 1);
565        else if (warp_type == "paniniA2B1") warper_creator = new cv::PaniniWarper(2, 1);
566        else if (warp_type == "paniniA1.5B1") warper_creator = new cv::PaniniWarper(1.5, 1);
567        else if (warp_type == "paniniPortraitA2B1") warper_creator = new cv::PaniniPortraitWarper(2, 1);
568        else if (warp_type == "paniniPortraitA1.5B1") warper_creator = new cv::PaniniPortraitWarper(1.5, 1);
569        else if (warp_type == "mercator") warper_creator = new cv::MercatorWarper();
570        else if (warp_type == "transverseMercator") warper_creator = new cv::TransverseMercatorWarper();
571    }
572
573    if (warper_creator.empty())
574    {
575        cout << "Can't create the following warper '" << warp_type << "'\n";
576        return 1;
577    }
578
579    Ptr<RotationWarper> warper = warper_creator->create(static_cast<float>(warped_image_scale * seam_work_aspect));
580
581    for (int i = 0; i < num_images; ++i)
582    {
583        Mat_<float> K;
584        cameras[i].K().convertTo(K, CV_32F);
585        float swa = (float)seam_work_aspect;
586        K(0,0) *= swa; K(0,2) *= swa;
587        K(1,1) *= swa; K(1,2) *= swa;
588
589        corners[i] = warper->warp(images[i], K, cameras[i].R, INTER_LINEAR, BORDER_REFLECT, images_warped[i]);
590        sizes[i] = images_warped[i].size();
591
592        warper->warp(masks[i], K, cameras[i].R, INTER_NEAREST, BORDER_CONSTANT, masks_warped[i]);
593    }
594
595    vector<Mat> images_warped_f(num_images);
596    for (int i = 0; i < num_images; ++i)
597        images_warped[i].convertTo(images_warped_f[i], CV_32F);
598
599    LOGLN("Warping images, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
600
601    Ptr<ExposureCompensator> compensator = ExposureCompensator::createDefault(expos_comp_type);
602    compensator->feed(corners, images_warped, masks_warped);
603
604    Ptr<SeamFinder> seam_finder;
605    if (seam_find_type == "no")
606        seam_finder = new detail::NoSeamFinder();
607    else if (seam_find_type == "voronoi")
608        seam_finder = new detail::VoronoiSeamFinder();
609    else if (seam_find_type == "gc_color")
610    {
611#ifdef HAVE_OPENCV_GPU
612        if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
613            seam_finder = new detail::GraphCutSeamFinderGpu(GraphCutSeamFinderBase::COST_COLOR);
614        else
615#endif
616            seam_finder = new detail::GraphCutSeamFinder(GraphCutSeamFinderBase::COST_COLOR);
617    }
618    else if (seam_find_type == "gc_colorgrad")
619    {
620#ifdef HAVE_OPENCV_GPU
621        if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
622            seam_finder = new detail::GraphCutSeamFinderGpu(GraphCutSeamFinderBase::COST_COLOR_GRAD);
623        else
624#endif
625            seam_finder = new detail::GraphCutSeamFinder(GraphCutSeamFinderBase::COST_COLOR_GRAD);
626    }
627    else if (seam_find_type == "dp_color")
628        seam_finder = new detail::DpSeamFinder(DpSeamFinder::COLOR);
629    else if (seam_find_type == "dp_colorgrad")
630        seam_finder = new detail::DpSeamFinder(DpSeamFinder::COLOR_GRAD);
631    if (seam_finder.empty())
632    {
633        cout << "Can't create the following seam finder '" << seam_find_type << "'\n";
634        return 1;
635    }
636
637    seam_finder->find(images_warped_f, corners, masks_warped);
638
639    // Release unused memory
640    images.clear();
641    images_warped.clear();
642    images_warped_f.clear();
643    masks.clear();
644
645    LOGLN("Compositing...");
646#if ENABLE_LOG
647    t = getTickCount();
648#endif
649
650    Mat img_warped, img_warped_s;
651    Mat dilated_mask, seam_mask, mask, mask_warped;
652    Ptr<Blender> blender;
653    //double compose_seam_aspect = 1;
654    double compose_work_aspect = 1;
655
656    for (int img_idx = 0; img_idx < num_images; ++img_idx)
657    {
658        LOGLN("Compositing image #" << indices[img_idx]+1);
659
660        // Read image and resize it if necessary
661        full_img = imread(img_names[img_idx]);
662        if (!is_compose_scale_set)
663        {
664            if (compose_megapix > 0)
665                compose_scale = min(1.0, sqrt(compose_megapix * 1e6 / full_img.size().area()));
666            is_compose_scale_set = true;
667
668            // Compute relative scales
669            //compose_seam_aspect = compose_scale / seam_scale;
670            compose_work_aspect = compose_scale / work_scale;
671
672            // Update warped image scale
673            warped_image_scale *= static_cast<float>(compose_work_aspect);
674            warper = warper_creator->create(warped_image_scale);
675
676            // Update corners and sizes
677            for (int i = 0; i < num_images; ++i)
678            {
679                // Update intrinsics
680                cameras[i].focal *= compose_work_aspect;
681                cameras[i].ppx *= compose_work_aspect;
682                cameras[i].ppy *= compose_work_aspect;
683
684                // Update corner and size
685                Size sz = full_img_sizes[i];
686                if (std::abs(compose_scale - 1) > 1e-1)
687                {
688                    sz.width = cvRound(full_img_sizes[i].width * compose_scale);
689                    sz.height = cvRound(full_img_sizes[i].height * compose_scale);
690                }
691
692                Mat K;
693                cameras[i].K().convertTo(K, CV_32F);
694                Rect roi = warper->warpRoi(sz, K, cameras[i].R);
695                corners[i] = roi.tl();
696                sizes[i] = roi.size();
697            }
698        }
699        if (abs(compose_scale - 1) > 1e-1)
700            resize(full_img, img, Size(), compose_scale, compose_scale);
701        else
702            img = full_img;
703        full_img.release();
704        Size img_size = img.size();
705
706        Mat K;
707        cameras[img_idx].K().convertTo(K, CV_32F);
708
709        // Warp the current image
710        warper->warp(img, K, cameras[img_idx].R, INTER_LINEAR, BORDER_REFLECT, img_warped);
711
712        // Warp the current image mask
713        mask.create(img_size, CV_8U);
714        mask.setTo(Scalar::all(255));
715        warper->warp(mask, K, cameras[img_idx].R, INTER_NEAREST, BORDER_CONSTANT, mask_warped);
716
717        // Compensate exposure
718        compensator->apply(img_idx, corners[img_idx], img_warped, mask_warped);
719
720        img_warped.convertTo(img_warped_s, CV_16S);
721        img_warped.release();
722        img.release();
723        mask.release();
724
725        dilate(masks_warped[img_idx], dilated_mask, Mat());
726        resize(dilated_mask, seam_mask, mask_warped.size());
727        mask_warped = seam_mask & mask_warped;
728
729        if (blender.empty())
730        {
731            blender = Blender::createDefault(blend_type, try_gpu);
732            Size dst_sz = resultRoi(corners, sizes).size();
733            float blend_width = sqrt(static_cast<float>(dst_sz.area())) * blend_strength / 100.f;
734            if (blend_width < 1.f)
735                blender = Blender::createDefault(Blender::NO, try_gpu);
736            else if (blend_type == Blender::MULTI_BAND)
737            {
738                MultiBandBlender* mb = dynamic_cast<MultiBandBlender*>(static_cast<Blender*>(blender));
739                mb->setNumBands(static_cast<int>(ceil(log(blend_width)/log(2.)) - 1.));
740                LOGLN("Multi-band blender, number of bands: " << mb->numBands());
741            }
742            else if (blend_type == Blender::FEATHER)
743            {
744                FeatherBlender* fb = dynamic_cast<FeatherBlender*>(static_cast<Blender*>(blender));
745                fb->setSharpness(1.f/blend_width);
746                LOGLN("Feather blender, sharpness: " << fb->sharpness());
747            }
748            blender->prepare(corners, sizes);
749        }
750
751        // Blend the current image
752        blender->feed(img_warped_s, mask_warped, corners[img_idx]);
753    }
754
755    Mat result, result_mask;
756    blender->blend(result, result_mask);
757
758    LOGLN("Compositing, time: " << ((getTickCount() - t) / getTickFrequency()) << " sec");
759
760    imwrite(result_name, result);
761
762    LOGLN("Finished, total time: " << ((getTickCount() - app_start_time) / getTickFrequency()) << " sec");
763    return 0;
764}
765
766