Merge pull request opencv#2720 from pglotov:master

modules/stitching/include/opencv2/stitching/detail/matchers.hpp

@@ -183,6 +183,20 @@ class CV_EXPORTS BestOf2NearestMatcher : public FeaturesMatcher
     Ptr<FeaturesMatcher> impl_;
 };
 
+class CV_EXPORTS BestOf2NearestRangeMatcher : public BestOf2NearestMatcher
+{
+public:
+    BestOf2NearestRangeMatcher(int range_width = 5, bool try_use_gpu = false, float match_conf = 0.3f,
+                            int num_matches_thresh1 = 6, int num_matches_thresh2 = 6);
+
+    void operator ()(const std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches,
+                     const cv::UMat &mask = cv::UMat());
+
+
+protected:
+    int range_width_;
+};
+
 } // namespace detail
 } // namespace cv
 

modules/stitching/include/opencv2/stitching/detail/timelapsers.hpp

@@ -0,0 +1,86 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+
+#ifndef __OPENCV_STITCHING_TIMELAPSERS_HPP__
+#define __OPENCV_STITCHING_TIMELAPSERS_HPP__
+
+#include "opencv2/core.hpp"
+
+namespace cv {
+namespace detail {
+
+//  Base Timelapser class, takes a sequence of images, applies appropriate shift, stores result in dst_.
+
+class CV_EXPORTS Timelapser
+{
+public:
+
+    enum {AS_IS, CROP};
+
+    virtual ~Timelapser() {}
+
+    static Ptr<Timelapser> createDefault(int type);
+
+    virtual void initialize(const std::vector<Point> &corners, const std::vector<Size> &sizes);
+    virtual void process(InputArray img, InputArray mask, Point tl);
+    virtual const UMat& getDst() {return dst_;}
+
+protected:
+
+    virtual bool test_point(Point pt);
+
+    UMat dst_;
+    Rect dst_roi_;
+};
+
+
+class CV_EXPORTS TimelapserCrop : public Timelapser
+{
+public:
+    virtual void initialize(const std::vector<Point> &corners, const std::vector<Size> &sizes);
+};
+
+} // namespace detail
+} // namespace cv
+
+#endif // __OPENCV_STITCHING_TIMELAPSERS_HPP__

modules/stitching/include/opencv2/stitching/detail/util.hpp

@@ -148,6 +148,7 @@ class CV_EXPORTS Graph
 CV_EXPORTS bool overlapRoi(Point tl1, Point tl2, Size sz1, Size sz2, Rect &roi);
 CV_EXPORTS Rect resultRoi(const std::vector<Point> &corners, const std::vector<UMat> &images);
 CV_EXPORTS Rect resultRoi(const std::vector<Point> &corners, const std::vector<Size> &sizes);
+CV_EXPORTS Rect resultRoiIntersection(const std::vector<Point> &corners, const std::vector<Size> &sizes);
 CV_EXPORTS Point resultTl(const std::vector<Point> &corners);
 
 // Returns random 'count' element subset of the {0,1,...,size-1} set

modules/stitching/src/matchers.cpp

@@ -646,5 +646,39 @@ void BestOf2NearestMatcher::collectGarbage()
     impl_->collectGarbage();
 }
 
+
+BestOf2NearestRangeMatcher::BestOf2NearestRangeMatcher(int range_width, bool try_use_gpu, float match_conf, int num_matches_thresh1, int num_matches_thresh2): BestOf2NearestMatcher(try_use_gpu, match_conf, num_matches_thresh1, num_matches_thresh2)
+{
+    range_width_ = range_width;
+}
+
+
+void BestOf2NearestRangeMatcher::operator ()(const std::vector<ImageFeatures> &features, std::vector<MatchesInfo> &pairwise_matches,
+                                  const UMat &mask)
+{
+    const int num_images = static_cast<int>(features.size());
+
+    CV_Assert(mask.empty() || (mask.type() == CV_8U && mask.cols == num_images && mask.rows));
+    Mat_<uchar> mask_(mask.getMat(ACCESS_READ));
+    if (mask_.empty())
+        mask_ = Mat::ones(num_images, num_images, CV_8U);
+
+    std::vector<std::pair<int,int> > near_pairs;
+    for (int i = 0; i < num_images - 1; ++i)
+        for (int j = i + 1; j < std::min(num_images, i + range_width_); ++j)
+            if (features[i].keypoints.size() > 0 && features[j].keypoints.size() > 0 && mask_(i, j))
+                near_pairs.push_back(std::make_pair(i, j));
+
+    pairwise_matches.resize(num_images * num_images);
+    MatchPairsBody body(*this, features, pairwise_matches, near_pairs);
+
+    if (is_thread_safe_)
+        parallel_for_(Range(0, static_cast<int>(near_pairs.size())), body);
+    else
+        body(Range(0, static_cast<int>(near_pairs.size())));
+    LOGLN_CHAT("");
+}
+
+
 } // namespace detail
 } // namespace cv

modules/stitching/src/precomp.hpp

@@ -59,6 +59,7 @@
 #include "opencv2/stitching.hpp"
 #include "opencv2/stitching/detail/autocalib.hpp"
 #include "opencv2/stitching/detail/blenders.hpp"
+#include "opencv2/stitching/detail/timelapsers.hpp"
 #include "opencv2/stitching/detail/camera.hpp"
 #include "opencv2/stitching/detail/exposure_compensate.hpp"
 #include "opencv2/stitching/detail/matchers.hpp"

modules/stitching/src/timelapsers.cpp

@@ -0,0 +1,107 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                          License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000-2008, Intel Corporation, all rights reserved.
+// Copyright (C) 2009, Willow Garage Inc., all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of the copyright holders may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "precomp.hpp"
+#include "opencl_kernels.hpp"
+
+namespace cv {
+namespace detail {
+
+Ptr<Timelapser> Timelapser::createDefault(int type)
+{
+    if (type == AS_IS)
+        return makePtr<Timelapser>();
+    if (type == CROP)
+        return makePtr<TimelapserCrop>();
+    CV_Error(Error::StsBadArg, "unsupported timelapsing method");
+    return Ptr<Timelapser>();
+}
+
+
+void Timelapser::initialize(const std::vector<Point> &corners, const std::vector<Size> &sizes)
+{
+    dst_roi_ = resultRoi(corners, sizes);
+    dst_.create(dst_roi_.size(), CV_16SC3);
+}
+
+void Timelapser::process(InputArray _img, InputArray /*_mask*/, Point tl)
+{
+    dst_.setTo(Scalar::all(0));
+
+    Mat img = _img.getMat();
+    Mat dst = dst_.getMat(ACCESS_RW);
+
+    CV_Assert(img.type() == CV_16SC3);
+    int dx = tl.x - dst_roi_.x;
+    int dy = tl.y - dst_roi_.y;
+
+    for (int y = 0; y < img.rows; ++y)
+    {
+        const Point3_<short> *src_row = img.ptr<Point3_<short> >(y);
+
+        for (int x = 0; x < img.cols; ++x)
+        {
+            if (test_point(Point(tl.x + x, tl.y + y)))
+            {
+                Point3_<short> *dst_row = dst.ptr<Point3_<short> >(dy + y);
+                dst_row[dx + x] = src_row[x];
+            }
+        }
+    }
+}
+
+
+bool Timelapser::test_point(Point pt)
+{
+    return dst_roi_.contains(pt);
+}
+
+
+void TimelapserCrop::initialize(const std::vector<Point> &corners, const std::vector<Size> &sizes)
+{
+    dst_roi_ = resultRoiIntersection(corners, sizes);
+    dst_.create(dst_roi_.size(), CV_16SC3);
+}
+
+
+} // namespace detail
+} // namespace cv

modules/stitching/src/util.cpp

@@ -137,6 +137,21 @@ Rect resultRoi(const std::vector<Point> &corners, const std::vector<Size> &sizes
     return Rect(tl, br);
 }
 
+Rect resultRoiIntersection(const std::vector<Point> &corners, const std::vector<Size> &sizes)
+{
+    CV_Assert(sizes.size() == corners.size());
+    Point tl(std::numeric_limits<int>::min(), std::numeric_limits<int>::min());
+    Point br(std::numeric_limits<int>::max(), std::numeric_limits<int>::max());
+    for (size_t i = 0; i < corners.size(); ++i)
+    {
+        tl.x = std::max(tl.x, corners[i].x);
+        tl.y = std::max(tl.y, corners[i].y);
+        br.x = std::min(br.x, corners[i].x + sizes[i].width);
+        br.y = std::min(br.y, corners[i].y + sizes[i].height);
+    }
+    return Rect(tl, br);
+}
+
 
 Point resultTl(const std::vector<Point> &corners)
 {