Basic Image AlgorithmS Library
2.8.0
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maps several images into a common mosaic and blends them seamlessly More...
#include <Image/ImageBlenderIncremental.hh>
Public Member Functions | |
int | AddCamera (const BIAS::Camera< unsigned char > &camera, unsigned int weightType=WEIGHT_TYPE_CIRCULAR_FIT) |
In incremental mode, the mosaic is updated using the image and the contained projection, in batch mode the image is simply added to the database and must contain a valid projection and a valid UUID. More... | |
void | AddDebugLevel (const long int lv) |
void | AddDebugLevel (const std::string &name) |
bool | BlendImages (BIAS::Camera< unsigned char > &destination, double gaussSigma=1.2) |
compute cylindrical geometry from added images and blend all added images More... | |
bool | BlendImages (BIAS::Camera< unsigned char > &destination, const ProjectionParametersBase &ppOut, const BIAS::Image< float > *depthmap=NULL, double gaussSigma=1.2) |
Blends all added images into destination with ppOut projection. More... | |
bool | DebugLevelIsSet (const long int lv) const |
bool | DebugLevelIsSet (const std::string &name) const |
int | GetDebugLevel () const |
std::ostream & | GetDebugStream () const |
void | GetDebugStream (std::ostream &os) const |
const Image< float > * | GetLowPassPointer () |
for interadctive visualization, show current buffer (read only) More... | |
void | GetMosaicRGB (Image< unsigned char > &mosaic) |
returns (current) mosaic image in incremental mode More... | |
void | GetMosaicRGB (Image< float > &mosaic) |
returns (current) mosaic image in incremental mode More... | |
void | GetMosaicRGBA (Image< unsigned char > &mosaic) |
returns (current) mosaic image in incremental mode More... | |
void | GetMosaicRGBA (Image< float > &mosaic) |
returns (current) mosaic image in incremental mode More... | |
unsigned int | GetOuputImageSize () |
ImageBlenderIncremental (bool blendIncremental=false) | |
constructor More... | |
long int | Name2DebugLevel (const std::string &name) const |
looks up a debuglevel in the internal map, returns 0 if not found More... | |
long int | NewDebugLevel (const std::string &name) |
creates a new debuglevel More... | |
void | PrintDebugLevel (std::ostream &os=std::cout) const |
void | RemoveDebugLevel (const long int lv) |
void | RemoveDebugLevel (const std::string &name) |
void | SetDebugLevel (const long int lv) |
void | SetDebugLevel (const std::string &name) |
void | SetDebugStream (const std::ostream &os) |
void | SetDepthMap (const BIAS::Image< float > &depthmap) |
void | SetDrawImageBorders (bool flag) |
void | SetHorizonAlignment (unsigned int val) |
determines the alignment of the horizon possible values are: HORIZON_ALIGNMENT_X - horizon is in x direction (default value) HORIZON_ALIGNMENT_X - horizon is in y direction HORIZON_ALIGNMENT_UNKNOWN - horizon alignment is unknown or mixed More... | |
void | SetOuputImageSize (const unsigned int &newSize) |
void | SetOutputParameters (const BIAS::ProjectionParametersBase &imagegeometry, const BIAS::RGBAuc bgcolor=RGBAuc(0, 0, 0, 0)) |
resets internal mosaic More... | |
void | SetPlane (const HomgPlane3D &theplane) |
void | SetUserWeightImage (const BIAS::Image< float > &weights) |
set a weight image (e.g. More... | |
void | SetWriteVrml (bool flag) |
void | ShowDebugLevel (std::ostream &os=std::cout) const |
prints all internally known debuglevels More... | |
Static Public Member Functions | |
static long int | GetGlobalDebugLevel () |
static void | SetGlobalDebugLevel (long int lev) |
Protected Member Functions | |
void | AddLowPassAndHighPassImage_ (Image< float > &destLow, Image< float > &destHigh, Image< unsigned char > &destination) |
helper function for extracting mosaic from laplacian pyramid More... | |
void | AddLowPassAndHighPassImage_ (Image< float > &destLow, Image< float > &destHigh, Image< float > &destination) |
helper function for extracting mosaic from laplacian pyramid More... | |
double | CalcAngleToXAxis_ (const BIAS::Vector2< double > &v, bool wantDegrees=false) |
double | CalcAngleToYAxis_ (const BIAS::Vector2< double > &v, bool wantDegrees=false) |
void | CheckFov_ (BIAS::ProjectionParametersCylindric &ppc) |
Checks FOV of each cam and computes the cylinder's FOV If mapper tries to access pixel outside of image, nasty distortion effects occur. More... | |
void | ComputeAlphaChannelWeight_ (BIAS::Image< float > &image, unsigned int weightType=WEIGHT_TYPE_RECTANGULAR) |
adds an alpha channel to RGB image, alpha can be e.g. More... | |
void | ComputeCylCamGeometry_ (BIAS::ProjectionParametersCylindric &ppc) |
long | ConsumeNextFreeDebuglevel_ () |
returns the next available debuglevel More... | |
void | ConvertImageToRGBA_ (BIAS::Image< float > &image) |
void | CopyAlphaChannel_ (const Image< float > &camCyl, Image< float > &lowPassCam) |
copies alpha channel from first RGBA image into second More... | |
void | FillBGImage_ (Image< float > &BGImage, const RGBAuc &color) |
helper for filling an image with rgba data More... | |
void | GetLowPassAndHighPassImage_ (const Image< float > &camCyl, Image< float > &lowPassCam, Image< float > &highPassCam) |
helper function for simple laplacian pyramid More... | |
void | LowPassFusiondAndHighPassMax_ (Image< float > &destLow, Image< float > &destHigh, Image< float > &lowPassCam, Image< float > &highPassCam) |
helper function for incremental fusion More... | |
Protected Attributes | |
long int | _liDebugLevel |
long int | _liNextDebugLevel |
new concept, debuglevel are managed here in the debug class More... | |
std::map< std::string, long int > | _String2Debuglevel |
bool | blendIncremental_ |
incremental or batchmode More... | |
double | cylinderHeight_ |
BIAS::Image< float > | Depth_ |
output depth More... | |
bool | drawImageBorders_ |
BIAS::Gauss< float, float > | gaussFilter_ |
unsigned int | horizonAlignment_ |
std::vector< BIAS::UUID > | imageIDs_ |
std::map< BIAS::UUID, BIAS::Camera< float > > | inputImages_ |
BIAS::Image< float > | latestMosaicHigh_ |
output image in incremental mode More... | |
BIAS::Image< float > | latestMosaicLow_ |
unsigned int | outputImageHeight_ |
unsigned int | outputImageWidth_ |
BIAS::HomgPlane3D | plane_ |
plane (alternative to depth) More... | |
BIAS::ProjectionMapping< float, float > | pm_ |
the actual worker: More... | |
BIAS::ProjectionParametersBase * | ppOutput_ |
output projection More... | |
BIAS::Image< float > | weightimage_ |
weight image for user specified weighting More... | |
bool | writeVrml_ |
Static Protected Attributes | |
static std::ostream | _zDebugStream |
static long int | GlobalDebugLevel = 0 |
maps several images into a common mosaic and blends them seamlessly
Blends a bunch of images seamlessly either in incremental or batch mode (in any case 64 byte RAM per output pixel are required, plus some constant, i.e. for a 10000x10000 pano you will need 6.4GB RAM). If you dont have enough RAM, tile your output image and run multiple times.
General usage of this class: First, specify the output parameters. For a rectilinear panorama this is a simple ProjectionParametersPerspective with wide field of view or for cylindrical panorama use BIAS::ProjectionParametersCylindric. However, you can also blend multiple textures for surfaces by providing the depth map of the output image.
When you specify the output parameters by SetOutputParameters(), a compatible output image will be generated internally. Then, for each input image (the photos you want to stitch), call Blend(image). Internally, the output image will be updated (a Kalman filter on the low frequency intensity plus the most reliable (winner-takes-all) laplacian of all images). Finally, call GetImage to obtain the resulting image.
Originally this class was written for panoramic image stitiching and computes a cylindrical geometry automatically from the different images. However, you can specify any projection you want as an output. In case your input images do not have the same camera center as your output image and you want this to be considered, you have to provide an output depth map, which can be used for the mapping in 3D.
Blending is done by separating the image into high-pass and low-pass parts, where each part is blended over one wavelength, i.e. sharp edges are blended within 2 pixels, while the image mean is blended over the whole image size.
Definition at line 80 of file ImageBlenderIncremental.hh.
ImageBlenderIncremental::ImageBlenderIncremental | ( | bool | blendIncremental = false | ) |
constructor
blendIncremental | set to true if you want to blend each added camera right away, rather than in (traditional) batch mode |
Definition at line 19 of file ImageBlenderIncremental.cpp.
int ImageBlenderIncremental::AddCamera | ( | const BIAS::Camera< unsigned char > & | camera, |
unsigned int | weightType = WEIGHT_TYPE_CIRCULAR_FIT |
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In incremental mode, the mosaic is updated using the image and the contained projection, in batch mode the image is simply added to the database and must contain a valid projection and a valid UUID.
Definition at line 122 of file ImageBlenderIncremental.cpp.
References BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::Camera< StorageType >::GetProj(), BIAS::ImageBase::GetUID(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::Camera< StorageType >::IsProjValid(), BIAS::UUID::IsValid(), and BIAS::Camera< StorageType >::SetProj().
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Definition at line 355 of file Debug.hh.
Referenced by BIAS::GLProjectionParametersBase::AddDebugLevel(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::FilterBase< InputStorageType, OutputStorageType >::FilterBase(), BIAS::ShowCamWxVideoSourceFactory::OpenDevice(), and BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph().
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helper function for extracting mosaic from laplacian pyramid
Definition at line 408 of file ImageBlenderIncremental.cpp.
References BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageData(), and BIAS::ImageBase::GetWidth().
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helper function for extracting mosaic from laplacian pyramid
Definition at line 486 of file ImageBlenderIncremental.cpp.
References BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageData(), and BIAS::ImageBase::GetWidth().
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compute cylindrical geometry from added images and blend all added images
This function is only available in batch mode. wrapper function only, calls other BlendImages
destination | result image |
Definition at line 146 of file ImageBlenderIncremental.hh.
bool ImageBlenderIncremental::BlendImages | ( | BIAS::Camera< unsigned char > & | destination, |
const ProjectionParametersBase & | ppOut, | ||
const BIAS::Image< float > * | depthmap = NULL , |
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double | gaussSigma = 1.2 |
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Blends all added images into destination with ppOut projection.
This function is only available in batch mode.
destination | output image |
ppOut | desired projection for output |
depthmap | of destination, needed if input cameras do not have the same center as output camera, ignored if NULL |
Definition at line 535 of file ImageBlenderIncremental.cpp.
References BIAS::ThreeDOut::AddTriangleMesh(), BIAS::Image< StorageType >::Clear(), BIAS::ProjectionParametersBase::DoesPointProjectIntoImage(), BIAS::TriangleMesh::GenerateTexturedCamera(), BIAS::ImageBase::GetChannelCount(), BIAS::ProjectionParametersBase::GetFirstBorderPixel(), BIAS::ImageBase::GetHeight(), BIAS::ProjectionParametersBase::GetNextBorderPixel(), BIAS::Projection::GetParameters(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::Projection::IsEmpty(), BIAS::MapTrilinear, BIAS::Image< StorageType >::Release(), BIAS::Image< StorageType >::SetPixel(), BIAS::Camera< StorageType >::SetProj(), BIAS::ImageBase::SetZero(), BIAS::ProjectionParametersBase::UnProjectToRay(), BIAS::Camera< StorageType >::UpdateMetaData(), BIAS::ThreeDOut::VRMLOut(), BIAS::PixelIterator::x, and BIAS::PixelIterator::y.
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Definition at line 1102 of file ImageBlenderIncremental.cpp.
References BIAS::Vector2< T >::NormL2(), and BIAS::Vector2< T >::ScalarProduct().
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Definition at line 1135 of file ImageBlenderIncremental.cpp.
References BIAS::Vector2< T >::NormL2(), and BIAS::Vector2< T >::ScalarProduct().
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Checks FOV of each cam and computes the cylinder's FOV If mapper tries to access pixel outside of image, nasty distortion effects occur.
This method checks the FOV of each cam and blocks access to pixels that are out of scope.
Definition at line 1168 of file ImageBlenderIncremental.cpp.
References BIAS::ProjectionParametersBase::DoesPointProjectIntoImage(), BIAS::Equal(), BIAS::ProjectionParametersBase::GetFirstBorderPixel(), BIAS::ProjectionParametersBase::GetNextBorderPixel(), BIAS::Projection::GetParameters(), BIAS::Vector3< T >::NormL2(), BIAS::ProjectionParametersPerspective::SetMinZLocal(), BIAS::ProjectionParametersPerspective::UnProjectLocal(), BIAS::ProjectionParametersBase::UnProjectToRay(), BIAS::PixelIterator::x, and BIAS::PixelIterator::y.
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adds an alpha channel to RGB image, alpha can be e.g.
radial symmetric from image center
Definition at line 1349 of file ImageBlenderIncremental.cpp.
References BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageData(), BIAS::Image< StorageType >::GetImageDataArray(), and BIAS::ImageBase::GetWidth().
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Definition at line 764 of file ImageBlenderIncremental.cpp.
References BIAS::Vector3< T >::CrossProduct(), BIAS::SVD::GetVT(), BIAS::SVD::Invert(), BIAS::Matrix2x2< T >::Mult(), BIAS::Vector3< T >::Mult(), BIAS::Matrix< T >::Mult(), BIAS::Vector3< T >::Normalize(), BIAS::Vector< T >::NormL2(), BIAS::Vector2< T >::NormL2(), TNT::Matrix< T >::num_rows(), BIAS::Vector3< T >::ScalarProduct(), BIAS::ProjectionParametersBase::SetC(), BIAS::ProjectionParametersBase::SetR(), BIAS::Vector3< T >::Size(), and BIAS::Vector3< T >::Sub().
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Definition at line 1454 of file ImageBlenderIncremental.cpp.
References BIAS::ImageBase::GetColorModel(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageDataArray(), BIAS::ImageBase::GetUID(), BIAS::ImageBase::GetWidth(), and BIAS::ImageBase::SetUID().
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copies alpha channel from first RGBA image into second
Definition at line 281 of file ImageBlenderIncremental.cpp.
References BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageData(), and BIAS::ImageBase::GetWidth().
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Definition at line 341 of file Debug.hh.
Referenced by BIAS::GenSynthMatches::_AddUniformDistributedOutliers(), BIAS::GenSynthMatches::_CreateCamMovement(), BIAS::GenSynthMatches::_CreateStatic2DPoints(), BIAS::UnscentedTransform::ComputeSigmaPoints_(), BIAS::Triangulation::CorrectCorrespondences(), BIAS::GenSynthMatches::GetGTNormalizedF(), BIAS::MonteCarloTransform::GetSamples_(), and BIAS::MonteCarloTransform::Transform().
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helper for filling an image with rgba data
Definition at line 87 of file ImageBlenderIncremental.cpp.
References BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageData(), and BIAS::ImageBase::GetWidth().
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Definition at line 332 of file Debug.hh.
Referenced by BIAS::listenthread(), BIAS::Image< StorageType >::operator=(), and BIAS::ImageBase::operator=().
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helper function for simple laplacian pyramid
Definition at line 295 of file ImageBlenderIncremental.cpp.
References BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageData(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), and BIAS::Image< StorageType >::Release().
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for interadctive visualization, show current buffer (read only)
Definition at line 131 of file ImageBlenderIncremental.hh.
void ImageBlenderIncremental::GetMosaicRGB | ( | Image< unsigned char > & | mosaic | ) |
returns (current) mosaic image in incremental mode
Definition at line 225 of file ImageBlenderIncremental.cpp.
References BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::ImageBase::IsEmpty(), and BIAS::Image< StorageType >::Release().
void ImageBlenderIncremental::GetMosaicRGB | ( | Image< float > & | mosaic | ) |
returns (current) mosaic image in incremental mode
Definition at line 261 of file ImageBlenderIncremental.cpp.
References BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::ImageBase::IsEmpty(), and BIAS::Image< StorageType >::Release().
void ImageBlenderIncremental::GetMosaicRGBA | ( | Image< unsigned char > & | mosaic | ) |
returns (current) mosaic image in incremental mode
Definition at line 207 of file ImageBlenderIncremental.cpp.
References BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::ImageBase::IsEmpty(), and BIAS::Image< StorageType >::Release().
void ImageBlenderIncremental::GetMosaicRGBA | ( | Image< float > & | mosaic | ) |
returns (current) mosaic image in incremental mode
Definition at line 243 of file ImageBlenderIncremental.cpp.
References BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::ImageBase::GetWidth(), BIAS::Image< StorageType >::Init(), BIAS::ImageBase::IsEmpty(), and BIAS::Image< StorageType >::Release().
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Definition at line 198 of file ImageBlenderIncremental.hh.
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helper function for incremental fusion
Definition at line 348 of file ImageBlenderIncremental.cpp.
References BIAS::ImageBase::GetChannelCount(), BIAS::ImageBase::GetHeight(), BIAS::Image< StorageType >::GetImageData(), and BIAS::ImageBase::GetWidth().
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creates a new debuglevel
Definition at line 474 of file Debug.hh.
Referenced by BIAS::COSAC< SolutionType >::COSAC(), BIAS::ProjectionParametersPerspectiveDepth::Init(), BIAS::MonteCarloTransform::MonteCarloTransform(), BIAS::PMatrixEstimation::PMatrixEstimation(), BIAS::PreemptiveRANSAC< SolutionType >::PreemptiveRANSAC(), BIAS::RANSACPreKnowledge< SolutionType >::RANSACPreKnowledge(), BIAS::ROI::ROI(), BIAS::RotationAveraging::RotationAveraging(), BIAS::SceneOpenSceneGraph::SceneOpenSceneGraph(), BIAS::ThreeDOutOpenSceneGraph::ThreeDOutOpenSceneGraph(), BIAS::Triangulation::Triangulation(), and BIAS::UnscentedTransform::UnscentedTransform().
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Definition at line 318 of file Debug.hh.
Referenced by BIAS::ShowCamWxVideoSourceFactory::CreateBumbleBee(), BIAS::ShowCamWxVideoSourceFactory::CreateDCAM(), BIAS::VideoSource_MDcam::ScanBus(), BIAS::GLProjectionParametersBase::SetDebugLevel(), BIAS::VideoSource_Disk::VideoSource_Disk(), BIAS::VideoSource_DV2::VideoSource_DV2(), BIAS::VideoSource_DV::VideoSource_DV_Internal_Init_(), and BIAS::VideoSource_V4L::VideoSource_V4L().
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Definition at line 174 of file ImageBlenderIncremental.hh.
References BIAS::ImageBase::SetZero().
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Definition at line 205 of file ImageBlenderIncremental.hh.
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determines the alignment of the horizon possible values are: HORIZON_ALIGNMENT_X - horizon is in x direction (default value) HORIZON_ALIGNMENT_X - horizon is in y direction HORIZON_ALIGNMENT_UNKNOWN - horizon alignment is unknown or mixed
Definition at line 217 of file ImageBlenderIncremental.hh.
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Definition at line 188 of file ImageBlenderIncremental.hh.
void ImageBlenderIncremental::SetOutputParameters | ( | const BIAS::ProjectionParametersBase & | imagegeometry, |
const BIAS::RGBAuc | bgcolor = RGBAuc(0,0,0,0) |
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resets internal mosaic
imagegeometry | projectionparameters of output mosaic |
bgcolor | initial background color of empty mosaic (e.g. black) |
pDepthmap | if != NULL, this enables 3D stitching mode and the camera centers of the image and the final mosaic will be considered |
Definition at line 33 of file ImageBlenderIncremental.cpp.
References BIAS::ProjectionParametersBase::Clone(), BIAS::ProjectionParametersBase::GetImageSize(), and BIAS::Projection::IsEmpty().
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Definition at line 178 of file ImageBlenderIncremental.hh.
void ImageBlenderIncremental::SetUserWeightImage | ( | const BIAS::Image< float > & | weights | ) |
set a weight image (e.g.
to ignore certain pixels or to account for funny illumination and confidence in pixel color
specify WEIGHT_TYPE_USERIMAGE to use this in AddCamera
weights | must be of same size as next user input image |
Definition at line 112 of file ImageBlenderIncremental.cpp.
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Definition at line 203 of file ImageBlenderIncremental.hh.
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Definition at line 510 of file Debug.hh.
Referenced by BIAS::Debug::operator=(), and BIAS::ImageBase::operator=().
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new concept, debuglevel are managed here in the debug class
Definition at line 516 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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Definition at line 517 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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Definition at line 511 of file Debug.hh.
Referenced by BIAS::Debug::operator=().
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incremental or batchmode
Definition at line 282 of file ImageBlenderIncremental.hh.
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Definition at line 270 of file ImageBlenderIncremental.hh.
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output depth
Definition at line 291 of file ImageBlenderIncremental.hh.
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Definition at line 281 of file ImageBlenderIncremental.hh.
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Definition at line 278 of file ImageBlenderIncremental.hh.
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Definition at line 273 of file ImageBlenderIncremental.hh.
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Definition at line 275 of file ImageBlenderIncremental.hh.
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Definition at line 276 of file ImageBlenderIncremental.hh.
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output image in incremental mode
Definition at line 287 of file ImageBlenderIncremental.hh.
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Definition at line 287 of file ImageBlenderIncremental.hh.
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Definition at line 272 of file ImageBlenderIncremental.hh.
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Definition at line 271 of file ImageBlenderIncremental.hh.
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plane (alternative to depth)
Definition at line 293 of file ImageBlenderIncremental.hh.
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the actual worker:
Definition at line 295 of file ImageBlenderIncremental.hh.
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output projection
Definition at line 289 of file ImageBlenderIncremental.hh.
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weight image for user specified weighting
Definition at line 285 of file ImageBlenderIncremental.hh.
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Definition at line 280 of file ImageBlenderIncremental.hh.