Question: Image stitching

[MartinStokelj]

Hello, I am getting video from drone and I know georeference where to put this image on map. I want to make ORTHOPHOTO MOSAIC from real time video. So I need fast image stitching.

Below is my tested code. Problem1: If I give multiple images in to stitcher it takes a lot of time to process it. Problem2: If I always give to stitcher only 2 images (first one is already stitched from all previous images) I see that I am loosing quality on the image (all previous stitched images are blured)

Any suggestions how to do this?

Here is my code:

private void Update(int imgCount)
{
    IEnumerable<Mat> images = SelectStitchingImages(imgCount);
    Stitcher stitcher = Stitcher.Create(true);
    stitcher.RegistrationResol = 0.2;
    stitcher.WaveCorrection = false;
    //stitcher.CompositingResol = -0.5; //default -1
    //stitcher.PanoConfidenceThresh = 0.5; //default 1
    //stitcher.RegistrationResol = 0.2; //default 0.6
    //stitcher.SeamEstimationResol = 0.05; //default 0.1
    //stitcher.WaveCorrection = false; //default true

    Stitcher.Status status = stitcher.EstimateTransform(images);
    if (status != Stitcher.Status.OK)
    {
        Console.WriteLine("Can't stitch images, error code = " + (int)status);
        return;
    }

    var panoMat = new Mat();
    Stitcher.Status status1 = stitcher.ComposePanorama(images, panoMat);
    if (status1 != Stitcher.Status.OK)
    {
        Console.WriteLine("Can't stitch images, error code = " + (int)status1);
        return;
    }

    stitcher.Dispose();
    foreach (Mat mat in images)
        mat.Dispose();

    panoMat.SaveImage("c:\\Downloads\\Slike\\merged_Update_" + imgCount + ".JPG");
    panoMat.Dispose();
}

private Mat[] SelectStitchingImages(int imgCount)
{
    var mats = new List<Mat>();
    string[] files = Directory.GetFiles("c:\\Downloads\\Slike\\", "DSC*.JPG", SearchOption.AllDirectories);
    for (var i = 0; i < files.Length; i++)
    {
        Mat source = new Bitmap(files[i]).ToMat();
        mats.Add(source);
        if (i == imgCount)
        {
            //Console.WriteLine("Update files[" + i + "]: " + files[i]);
            break;
        }
    }
    return mats.ToArray();
}

Something like example: https://github.com/zdzhaoyong/Map2DFusion

[MartinStokelj]

No suggestions?

[stale[bot]]

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