全景图像拼接

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#include <iostream>
#include <fstream>
#include <io.h>
#include <stdio.h>
#include <stdlib.h>
#include <time.h>
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/stitching/stitcher.hpp"
#include "opencv2/stitching/warpers.hpp"

#define MaxPics 30
//F:\Program Files\opencv\modules\stitching\include\opencv2\stitching
using namespace std;
using namespace cv;
bool try_use_gpu = false;
int filenum;
vector<Mat> imgs;
string result_name = "result.jpg";
//void printUsage();
//int parseCmdArgs(int argc, char** argv);
int readDir(char *path, char fnames[MaxPics][100]);

int readDir(char *path, char fnames[MaxPics][100])
{
	struct _finddata_t c_file;
	intptr_t hFile;
	filenum = 0;

	char fullpath[100];

	sprintf(fullpath, "%s\\*.jpg", path);
	// Find first .c file in current directory 
	if ((hFile = _findfirst(fullpath, &c_file)) == -1L)
		printf("No *.jpg files in current directory %s!\n", fullpath);
	else
	{
		printf("Listing of .jpg files in %s directory\n\n", path);
		printf("RDO HID SYS ARC FILE SIZE\n", ' ');
		printf("--- --- --- --- ---- ----\n", ' ');
		do {
			printf((c_file.attrib & _A_RDONLY) ? " Y " : " N ");
			printf((c_file.attrib & _A_SYSTEM) ? " Y " : " N ");
			printf((c_file.attrib & _A_HIDDEN) ? " Y " : " N ");
			printf((c_file.attrib & _A_ARCH) ? " Y " : " N ");
			//ctime_s( buffer, _countof(buffer), &c_file.time_write );
			printf(" %-15s %9ld\n", c_file.name, c_file.size);
			sprintf(fnames[filenum], "%s\\%s", path, c_file.name);
			filenum++;
		} while (_findnext(hFile, &c_file) == 0);
		_findclose(hFile);
	}
	return filenum;
}
int main(int argc, char* argv[])
{
	clock_t start, finish;
	double totaltime;



	argv[1] = "d:\\1";
	char fdir[MaxPics][100];
	filenum = readDir(argv[1], fdir);
	Mat img, pano;
	for (int i = 0; i<filenum; i++){
		img = imread(fdir[i]);
		imgs.push_back(img);
	}
	start = clock();
	Stitcher stitcher = Stitcher::createDefault(try_use_gpu);
	stitcher.setRegistrationResol(0.1);//为了加速，我选0.1,默认是0.6,最大值1最慢，此方法用于特征点检测阶段，如果找不到特征点，调高吧
	//stitcher.setSeamEstimationResol(0.1);//默认是0.1
	//stitcher.setCompositingResol(-1);//默认是-1，用于特征点检测阶段，找不到特征点的话，改-1
	stitcher.setPanoConfidenceThresh(1);//默认是1,见过有设0.6和0.4的
	stitcher.setWaveCorrection(false);//默认是true，为加速选false，表示跳过WaveCorrection步骤
	//stitcher.setWaveCorrectKind(detail::WAVE_CORRECT_HORIZ);//还可以选detail::WAVE_CORRECT_VERT ,波段修正(wave correction)功能（水平方向/垂直方向修正）。因为setWaveCorrection设的false，此语句没用

	//找特征点surf算法，此算法计算量大,但对刚体运动、缩放、环境影响等情况下较为稳定
	detail::SurfFeaturesFinder *featureFinder = new detail::SurfFeaturesFinder();
	stitcher.setFeaturesFinder(featureFinder);

	//找特征点ORB算法,但是发现草地这组图，这个算法不能完成拼接
	//detail::OrbFeaturesFinder *featureFinder = new detail::OrbFeaturesFinder();
	//stitcher.setFeaturesFinder(featureFinder);

	//Features matcher which finds two best matches for each feature and leaves the best one only if the ratio between descriptor distances is greater than the threshold match_conf.
	detail::BestOf2NearestMatcher *matcher = new detail::BestOf2NearestMatcher(false, 0.5f/*=match_conf默认是0.65，我选0.8，选太大了就没特征点啦,0.8都失败了*/);
	stitcher.setFeaturesMatcher(matcher);

	// Rotation Estimation,It takes features of all images, pairwise matches between all images and estimates rotations of all cameras.
	//Implementation of the camera parameters refinement algorithm which minimizes sum of the distances between the rays passing through the camera center and a feature,这个耗时短
	stitcher.setBundleAdjuster(new detail::BundleAdjusterRay());
	//Implementation of the camera parameters refinement algorithm which minimizes sum of the reprojection error squares.
	//stitcher.setBundleAdjuster(new detail::BundleAdjusterReproj());

	//Seam Estimation
	//Minimum graph cut-based seam estimator
	//stitcher.setSeamFinder(new detail::GraphCutSeamFinder(detail::GraphCutSeamFinderBase::COST_COLOR));//默认就是这个
	//stitcher.setSeamFinder(new detail::GraphCutSeamFinder(detail::GraphCutSeamFinderBase::COST_COLOR_GRAD));//GraphCutSeamFinder的第二种形式
	//啥SeamFinder也不用，Stub seam estimator which does nothing.
	stitcher.setSeamFinder(new detail::NoSeamFinder);
	//Voronoi diagram-based seam estimator.
	//stitcher.setSeamFinder(new detail::VoronoiSeamFinder);

	//exposure compensators曝光补偿
	//stitcher.setExposureCompensator(new detail::BlocksGainCompensator());//默认的就是这个
	//不要曝光补偿
	stitcher.setExposureCompensator(new detail::NoExposureCompensator());
	//Exposure compensator which tries to remove exposure related artifacts by adjusting image intensities
	//stitcher.setExposureCompensator(new detail::detail::GainCompensator());
	//Exposure compensator which tries to remove exposure related artifacts by adjusting image block intensities 
	//stitcher.setExposureCompensator(new detail::detail::BlocksGainCompensator()); 

	//Image Blenders
	//Blender which uses multi-band blending algorithm 
	//stitcher.setBlender(new detail::MultiBandBlender(try_use_gpu));//默认的是这个
	//Simple blender which mixes images at its borders
	stitcher.setBlender(new detail::FeatherBlender());//这个简单，耗时少

	//柱面？球面OR平面？默认为球面
	PlaneWarper* cw = new PlaneWarper();
	//SphericalWarper* cw = new SphericalWarper();
	//CylindricalWarper* cw = new CylindricalWarper();
	stitcher.setWarper(cw);

	Stitcher::Status status = stitcher.estimateTransform(imgs);
	if (status != Stitcher::OK)
	{
		cout << "Can't stitch images, error code = " << int(status) << endl;
		return -1;
	}
	status = stitcher.composePanorama(pano);
	if (status != Stitcher::OK)
	{
		cout << "Can't stitch images, error code = " << int(status) << endl;
		return -1;
	}
	cout << "程序开始";
	imwrite(result_name, pano);
	finish = clock();
	totaltime = (double)(finish - start) / CLOCKS_PER_SEC;
	cout << "\n此程序的运行时间为" << totaltime << "秒！" << endl;
	return 0;
}