stitching

[1601607_김상규]

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#include "stitching.h"     int main() {       cv::VideoCapture cap0(1);     cv::VideoCapture cap1(3);     cv::VideoCapture cap2(0);     cv::VideoCapture cap3(2);       // cv::VideoCapture cap0(0), cap1(1), cap2(2), cap3(3);     if (!(cap0.isOpened()) || !(cap1.isOpened()) || !(cap2.isOpened()) || !(cap3.isOpened())) {         std::cerr << "Camera open failed !!!" << std::endl;         return -1;     }       std::cout << std::endl << "camera loading ..." << std::endl << std::endl;           cv::Mat frame0, frame1, frame2, frame3;     cv::Mat stitch_up, stitch_down, stitch_dst;     My_Stitching stitcher0, stitcher1, stitcher2;       while (true) {           cap0 >> frame0;         if (frame0.empty()) { std::cerr << "frame0 not load ..." << std::endl; break; }           cap1 >> frame1;         if (frame1.empty()) { std::cerr << "frame1 not load ..." << std::endl; break; }           cap2 >> frame2;         if (frame2.empty()) { std::cerr << "frame2 not load ..." << std::endl; break; }           cap3 >> frame3;         if (frame3.empty()) { std::cerr << "frame3 not load ..." << std::endl; break; }           stitch_up = stitcher0.stitch(frame0, frame1, "width");         stitch_down = stitcher1.stitch(frame2, frame3, "width");         stitch_dst = stitcher2.stitch(stitch_up, stitch_down, "height");                   cv::imshow("frame0", frame0);         cv::imshow("frame1", frame1);         cv::imshow("frame2", frame2);         cv::imshow("frame3", frame3);           cv::imshow("stitch_up", stitch_up);         cv::imshow("stitch_down", stitch_down);                 cv::imshow("stitch_dst", stitch_dst);           int key = cv::waitKey(1);         if (key == 'q') break;                 else if (key == 's') {               stitcher0.homography = cv::Mat();             stitcher1.homography = cv::Mat();             stitcher2.homography = cv::Mat();         }     }       std::cout << "프로그램 종료..." << std::endl << std::endl;       cv::destroyAllWindows();       return 0; } Colored by Color Scripter

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#include "stitching.h"     std::tuple<std::vector<cv::KeyPoint>, cv::Mat> My_Stitching::detect_and_describe(cv::Mat image) {       cv::Mat image_gray;     cv::cvtColor(image, image_gray, cv::COLOR_BGR2GRAY);          cv::Ptr<cv::Feature2D> sift_feature = cv::SIFT::create();       std::vector<cv::KeyPoint> keypoints;     cv::Mat descriptors;       sift_feature->detectAndCompute(image_gray, cv::Mat(), keypoints, descriptors);       return std::make_tuple(keypoints, descriptors); }     cv::Mat My_Stitching::match_keypoints(cv::Mat imageA, cv::Mat imageB, std::vector<cv::KeyPoint> keypointA, std::vector<cv::KeyPoint> keypointB, cv::Mat featuresA, cv::Mat featuresB, float ratio, double repojThresh) {       std::vector<std::vector<cv::DMatch>> rawMatches;         std::vector<cv::DMatch> goodMatches;         std::vector<cv::Point2f> pointsA, pointsB;       cv::Ptr<cv::DescriptorMatcher> matcher = cv::DescriptorMatcher::create("BruteForce");     matcher->knnMatch(featuresA, featuresB, rawMatches, 2);          for (int i = 0; i < rawMatches.size(); i++) {         if ((rawMatches[i].size() == 2) && (rawMatches[i][0].distance < (rawMatches[i][1].distance * ratio))) {               goodMatches.push_back(rawMatches[i][0]);         }     }           if (goodMatches.size() > 4) {         for (int i = 0; i < goodMatches.size(); i++) {               pointsA.push_back(keypointA[goodMatches[i].queryIdx].pt);             pointsB.push_back(keypointB[goodMatches[i].trainIdx].pt);         }                  homography = findHomography(pointsB, pointsA, cv::RANSAC);           return homography;     } }     cv::Mat My_Stitching::stitch(cv::Mat imageA, cv::Mat imageB, std::string mode, float ratio, double repojThresh) {           std::vector<cv::KeyPoint> keypointA, keypointB;     cv::Mat featuresA, featuresB;     cv::Mat matchFeatures, matches;     std::vector<cv::DMatch> goodMatches;     cv::Mat warp_image, dst;                   if (homography.empty()) {           std::tie(keypointA, featuresA) = detect_and_describe(imageA);         std::tie(keypointB, featuresB) = detect_and_describe(imageB);           homography = match_keypoints(imageA, imageB, keypointA, keypointB, featuresA, featuresB, ratio, repojThresh);           std::cout << "homography matrix : " << std::endl << homography << std::endl << std::endl;     }          if (mode == "width") {           cv::warpPerspective(imageB, warp_image, homography, cv::Size(imageA.cols * 2, imageA.rows));           dst = warp_image.clone();         cv::Mat roi(dst, cv::Rect(0, 0, imageA.cols, imageA.rows));         imageA.copyTo(roi);             }     else if (mode=="height") {           cv::warpPerspective(imageB, warp_image, homography, cv::Size(imageA.cols, imageA.rows * 2));           dst = warp_image.clone();         cv::Mat roi(dst, cv::Rect(0, 0, imageA.cols, imageA.rows));         imageA.copyTo(roi);             }       return dst; } Colored by Color Scripter

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#ifndef __STITCHING__ #define __STITCHING__     #include <opencv2/opencv.hpp> #include <iostream> #include <string> #include <tuple>     class My_Stitching {   public:     cv::Mat homography;         std::tuple<std::vector<cv::KeyPoint>, cv::Mat> detect_and_describe(cv::Mat image);       cv::Mat match_keypoints(cv::Mat imageA, cv::Mat imageB, std::vector<cv::KeyPoint> keypointA, std::vector<cv::KeyPoint> keypointB,          cv::Mat featuresA, cv::Mat featuresB, float ratio, double repojThresh);       cv::Mat stitch(cv::Mat imageA, cv::Mat imageB, std::string mode, float ratio = 0.75, double repojThresh = 4.0); };   #endif Colored by Color Scripter

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