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separate the image stitching code(written by zty and cxs)

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  1. 513 0
      OTSIncAMeasureApp/ServiceCenter/ImageStitchUsingOpenCvSharp.cs

+ 513 - 0
OTSIncAMeasureApp/ServiceCenter/ImageStitchUsingOpenCvSharp.cs

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+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Text;
+using System.Threading.Tasks;
+
+namespace OTSMeasureApp.ServiceCenter
+{
+    using OpenCvSharp;
+  
+    class ImageStitchUsingOpenCvSharp
+    {
+        #region 合并天宇颗粒融合新增函数
+        public Mat CombinImageX(Mat[] list_mats, int OverlapParam, int type)
+        {
+            List<Mat> matStitch = new List<Mat>();//拼接
+            List<Mat> matCombin = new List<Mat>();//合并
+            for (int i = 0; i < list_mats.Count(); i++)
+            {
+                if (i == 0)//首张
+                {
+                    matCombin.Add(new Mat(list_mats[i], new OpenCvSharp.Rect(0, 0, list_mats[i].Width - OverlapParam - 100, list_mats[i].Height)));
+                    matStitch.Add(new Mat(list_mats[i], new OpenCvSharp.Rect(list_mats[i].Width - OverlapParam - 100, 0, OverlapParam + 100, list_mats[i].Height)));
+                }
+                else if (i == list_mats.Count() - 1)//末张
+                {
+                    matStitch.Add(new Mat(list_mats[i], new OpenCvSharp.Rect(0, 0, OverlapParam + 100, list_mats[i].Height)));
+                    matCombin.Add(new Mat(list_mats[i], new OpenCvSharp.Rect(OverlapParam + 100, 0, list_mats[i].Width - OverlapParam - 100, list_mats[i].Height)));
+                }
+                else
+                {
+                    matStitch.Add(new Mat(list_mats[i], new OpenCvSharp.Rect(0, 0, OverlapParam + 100, list_mats[i].Height)));
+                    matCombin.Add(new Mat(list_mats[i], new OpenCvSharp.Rect(OverlapParam + 100, 0, list_mats[i].Width - (OverlapParam + 100) * 2, list_mats[i].Height)));
+                    matStitch.Add(new Mat(list_mats[i], new OpenCvSharp.Rect(list_mats[i].Width - OverlapParam - 100, 0, OverlapParam + 100, list_mats[i].Height)));
+                }
+            }
+
+            for (int i = 0; i < matStitch.Count; i += 2)
+            {
+                if (matStitch.Count == 1)
+                {
+                    matCombin.Insert(i + 1, matStitch[i]);
+                }
+                else
+                {
+                    matCombin.Insert(i + 1, StitchImageX((int)(OverlapParam / 2 * 1.2), type, matStitch[i], matStitch[i + 1]));
+                }
+            }
+
+            Mat pano = new OpenCvSharp.Mat();
+            Cv2.HConcat(matCombin.ToArray(), pano);
+
+            return pano;
+        }
+
+        public Mat CombinImageY(Mat[] list_mats, int OverlapParam, int type)
+        {
+            List<Mat> matStitch = new List<Mat>();//拼接
+            List<Mat> matCombin = new List<Mat>();//合并
+            for (int i = 0; i < list_mats.Count(); i++)
+            {
+                if (i == 0)//首张
+                {
+                    matCombin.Add(new Mat(list_mats[i], new OpenCvSharp.Rect(0, 0, list_mats[i].Width, list_mats[i].Height - OverlapParam - 100)));
+                    matStitch.Add(new Mat(list_mats[i], new OpenCvSharp.Rect(0, list_mats[i].Height - OverlapParam - 100, list_mats[i].Width, OverlapParam + 100)));
+                }
+                else if (i == list_mats.Count() - 1)//末张
+                {
+                    matStitch.Add(new Mat(list_mats[i], new OpenCvSharp.Rect(0, 0, list_mats[i].Width, OverlapParam + 100)));
+                    matCombin.Add(new Mat(list_mats[i], new OpenCvSharp.Rect(0, OverlapParam + 100, list_mats[i].Width, list_mats[i].Height - OverlapParam - 100)));
+                }
+                else
+                {
+                    matStitch.Add(new Mat(list_mats[i], new OpenCvSharp.Rect(0, 0, list_mats[i].Width, OverlapParam + 100)));
+                    matCombin.Add(new Mat(list_mats[i], new OpenCvSharp.Rect(0, OverlapParam + 100, list_mats[i].Width, list_mats[i].Height - (OverlapParam + 100) * 2)));
+                    matStitch.Add(new Mat(list_mats[i], new OpenCvSharp.Rect(0, list_mats[i].Height - OverlapParam - 100, list_mats[i].Width, OverlapParam + 100)));
+                }
+            }
+
+            for (int i = 0; i < matStitch.Count; i += 2)
+            {
+                if (matStitch.Count == 1)
+                {
+                    matCombin.Insert(i + 1, matStitch[i]);
+                }
+                else
+                {
+                    matCombin.Insert(i + 1, StitchImageY(OverlapParam, type, matStitch[i], matStitch[i + 1]));
+                }
+            }
+
+            Mat pano = new OpenCvSharp.Mat();
+            Cv2.VConcat(matCombin.ToArray(), pano);
+
+            return pano;
+        }
+
+        public struct MStitch
+        {
+            public int Pwidth;//单幅图像的宽度
+            public int Pheight;//单幅图像的高度
+            public int W_min;//最小的重叠区域宽度
+            public int W_max;//最大的重叠区域宽度
+            public int H_min;//最小的重叠区域高度
+            public double minval;//块过滤阈值
+            public Mat im;//图像信息
+        }
+        public struct ImageParam
+        {
+            public int W_box;//宽度信息
+            public int H_box;//高度信息
+            public int bdown;//上下信息
+            public MStitch mStitch; //参数结构
+            public Mat im;//图像信息
+        }
+
+        /// <summary>
+        /// 横向拼图
+        /// </summary>
+        public Mat StitchImageXGrid(int min_w, int type, Mat newImg1, Mat newImg2)
+        {
+            MStitch mStitch = new MStitch();
+            mStitch.Pwidth = newImg1.Width;
+            mStitch.Pheight = newImg1.Height;
+            mStitch.W_min = min_w - 50;
+            mStitch.W_max = min_w + 50;
+            mStitch.H_min = newImg1.Height;
+            mStitch.minval = 255;
+            mStitch.im = newImg1;
+
+            ImageParam imageParam = Fun_Match(newImg2, mStitch);
+            imageParam.im = newImg2;
+
+            if (type == 3)
+            {
+                return Fun_Stitch(imageParam);
+            }
+            else
+            {
+                return Fun_StitchRGB(imageParam);
+            }
+        }
+
+
+        /// <summary>
+        /// 纵向拼图
+        /// </summary>
+        public Mat StitchImageYGrid(int min_w, int type, Mat newImg1, Mat newImg2)
+        {
+            Cv2.Transpose(newImg1, newImg1);
+            Cv2.Flip(newImg1, newImg1, FlipMode.X);
+
+            Cv2.Transpose(newImg2, newImg2);
+            Cv2.Flip(newImg2, newImg2, FlipMode.X);
+
+            MStitch mStitch = new MStitch();
+            mStitch.Pwidth = newImg1.Width;
+            mStitch.Pheight = newImg1.Height;
+            mStitch.W_min = min_w - 50;
+            mStitch.W_max = min_w + 50;
+            mStitch.H_min = newImg1.Height;
+            mStitch.minval = 255;
+            mStitch.im = newImg1;
+
+            ImageParam imageParam = Fun_Match(newImg2, mStitch);
+            imageParam.im = newImg2;
+
+            Mat result = type == 3 ? Fun_Stitch(imageParam) : Fun_StitchRGB(imageParam);
+
+            Cv2.Transpose(result, result);
+            Cv2.Flip(result, result, FlipMode.Y);
+
+            return result;
+        }
+
+        /// <summary>
+        /// 横向拼图
+        /// </summary>
+        public Mat StitchImageX(int min_w, int type, Mat newImg1, Mat newImg2)
+        {
+            MStitch mStitch = new MStitch();
+            mStitch.Pwidth = newImg1.Width;
+            mStitch.Pheight = newImg1.Height;
+            mStitch.W_min = min_w;
+            mStitch.W_max = min_w;
+            mStitch.H_min = newImg1.Height;
+            mStitch.minval = 255;
+            mStitch.im = newImg1;
+
+            ImageParam imageParam = Fun_Match(newImg2, mStitch);
+            imageParam.im = newImg2;
+
+            if (type == 3)
+            {
+                return Fun_Stitch(imageParam);
+            }
+            else
+            {
+                return Fun_StitchRGB(imageParam);
+            }
+        }
+
+        /// <summary>
+        /// 纵向拼图
+        /// </summary>
+        public Mat StitchImageY(int min_w, int type, Mat newImg1, Mat newImg2)
+        {
+            Cv2.Transpose(newImg1, newImg1);
+            Cv2.Flip(newImg1, newImg1, FlipMode.X);
+
+            Cv2.Transpose(newImg2, newImg2);
+            Cv2.Flip(newImg2, newImg2, FlipMode.X);
+
+            MStitch mStitch = new MStitch();
+            mStitch.Pwidth = newImg1.Width;
+            mStitch.Pheight = newImg1.Height;
+            mStitch.W_min = min_w - 50;
+            mStitch.W_max = min_w - 50;
+            mStitch.H_min = newImg1.Height - 20;
+            mStitch.minval = 255;
+            mStitch.im = newImg1;
+
+            ImageParam imageParam = Fun_Match(newImg2, mStitch);
+            imageParam.im = newImg2;
+
+            Mat result = type == 2 ? Fun_Stitch(imageParam) : Fun_StitchRGB(imageParam);
+
+            Cv2.Transpose(result, result);
+            Cv2.Flip(result, result, FlipMode.Y);
+
+            return result;
+        }
+
+        public static ImageParam Fun_Match(Mat im2, MStitch mStitch)
+        {
+            ImageParam imageParam = new ImageParam();
+            double imsum = 0;
+            int x1 = 0;
+            int y1 = 0;
+            int x2 = 0;
+            int y2 = 0;
+            int w_ind = 0;
+            int h_ind = 0;                                        //        
+            for (int w = mStitch.W_min; w <= mStitch.W_max; w++)
+            {
+                for (int h = mStitch.H_min; h <= mStitch.Pheight; h++)
+                {
+                    imsum = 0;//块差分集初始化 
+                    x2 = 1;
+                    for (x1 = mStitch.Pwidth - w; x1 <= mStitch.Pwidth; x1 += 5)
+                    {
+                        y2 = 1;
+                        for (y1 = mStitch.Pheight - h + 1; y1 <= mStitch.Pheight; y1 += 5)
+                        {
+                            //块差分集计算
+                            CheckRC(ref x1, ref y1, mStitch.im);
+                            CheckRC(ref x2, ref y2, im2);
+                            imsum = imsum + Math.Abs(mStitch.im.At<Vec3b>(y1, x1).Item0 - im2.At<Vec3b>(y2, x2).Item0);
+                            y2 = y2 + 5;
+                        }
+                        x2 = x2 + 5;
+                    }
+                    //阈值更新
+                    if (imsum * 5 * 5 <= mStitch.minval * w * h)
+                    {
+                        mStitch.minval = imsum * 5 * 5 / (w * h);
+                        w_ind = w;
+                        h_ind = h;
+                    }
+                }
+            }
+
+            imageParam.W_box = w_ind;
+            imageParam.H_box = h_ind;
+            imageParam.bdown = 1;
+
+            //在下窗口所有匹配块内进行搜索
+            Parallel.For(mStitch.W_min, mStitch.W_max, w =>
+            {
+                Parallel.For(mStitch.H_min, mStitch.Pheight, h =>
+                {
+                    imsum = 0;//块差分集初始化
+                    x2 = 1;
+                    for (x1 = mStitch.Pwidth - w; x1 <= mStitch.Pwidth; x1 += 5)
+                    {
+                        y1 = 1;
+                        for (y2 = mStitch.Pheight - h + 1; y2 <= mStitch.Pheight; y2 += 5)
+                        {
+                            //块差分集计算
+                            CheckRC(ref x1, ref y1, mStitch.im);
+                            CheckRC(ref x2, ref y2, im2);
+                            imsum = imsum + Math.Abs(mStitch.im.At<Vec3b>(y1, x1).Item0 - im2.At<Vec3b>(y2, x2).Item0);
+                            y1 = y1 + 5;
+                        }
+                        x2 = x2 + 5;
+                    }
+                    //阈值更新
+                    if (imsum * 5 * 5 <= mStitch.minval * w * h)
+                    {
+                        mStitch.minval = imsum * 5 * 5 / (w * h);
+                        w_ind = w;
+                        h_ind = h;
+                        imageParam.bdown = 0;
+                    }
+                });
+            });
+
+            imageParam.mStitch = mStitch;
+
+            return imageParam;
+        }
+
+        public static void CheckRC(ref int x, ref int y, Mat im)
+        {
+            //图像矩阵访问有效性检测
+            // 输入参数:
+            // x——列
+            // y——行
+            // im——图像矩阵
+            // 输出参数:
+            // x——列
+            // y——行
+            y = Math.Max(y, 1);
+            y = Math.Min(y, im.Height - 1);
+            x = Math.Max(x, 1);
+            x = Math.Min(x, im.Width - 1);
+        }
+
+        public Mat Fun_Stitch(ImageParam imageParam)
+        {
+            //图像融合
+            //输入参数:
+            //im2——待融合图像
+            //W_box——宽度信息
+            //H_box——高度信息
+            //bdown——上下信息
+            //MStitch——参数结构
+            //输出参数:
+            //MStitch——参数结构
+            //im——融合图像
+
+            Mat img = imageParam.im;
+            int x1 = 0;
+            int y1 = 0;
+            int x2 = 0;
+            int y2 = 0;
+            double w = 0.5; //融合权值
+
+            if (imageParam.bdown == 1)
+            {
+                //下区域重叠
+                x2 = 1;
+                //融合重叠区域
+                for (x1 = imageParam.mStitch.Pwidth - imageParam.W_box; x1 < imageParam.mStitch.Pwidth; x1++)
+                {
+                    y2 = 1;
+                    for (y1 = imageParam.mStitch.Pheight - imageParam.H_box + 1; y1 < imageParam.mStitch.Pheight; y1++)
+                    {
+                        //安全性检测
+                        CheckRC(ref x1, ref y1, imageParam.mStitch.im);
+                        CheckRC(ref x2, ref y2, imageParam.im);
+                        //融合权值
+                        w = (double)x2 / (double)imageParam.W_box;
+                        //加权融合
+                        double ColorRGB = imageParam.mStitch.im.At<Vec3b>(y1, x1).Item0 * (1.0 - w) + imageParam.im.At<Vec3b>(y2, x2).Item0 * w;
+                        imageParam.mStitch.im.Set<Vec3b>(y1, x1, new Vec3b((byte)ColorRGB, (byte)ColorRGB, (byte)ColorRGB));
+                        y2 = y2 + 1;
+                    }
+                    x2 = x2 + 1;
+                }
+            }
+            else
+            {
+                //上区域重叠
+                x2 = 1;
+                //融合重叠区域
+                for (x1 = imageParam.mStitch.Pwidth - imageParam.W_box; x1 < imageParam.mStitch.Pwidth; x1++)
+                {
+                    y2 = 1;
+                    for (y1 = imageParam.mStitch.Pheight - imageParam.H_box + 1; y1 < imageParam.mStitch.Pheight; y1++)
+                    {
+                        //安全性检测
+                        CheckRC(ref x1, ref y1, imageParam.mStitch.im);
+                        CheckRC(ref x2, ref y2, imageParam.im);
+                        //融合权值
+                        w = (double)x2 / (double)imageParam.W_box;
+                        //加权融合
+                        double ColorRGB = imageParam.mStitch.im.At<Vec3b>(y1, x1).Item0 * (1.0 - w) + imageParam.im.At<Vec3b>(y2, x2).Item0 * w;
+                        imageParam.mStitch.im.Set<Vec3b>(y1, x1, new Vec3b((byte)ColorRGB, (byte)ColorRGB, (byte)ColorRGB));
+
+                        y2 = y2 + 1;
+                    }
+                    x2 = x2 + 1;
+                }
+            }
+
+            //最终图
+            img = new Mat(imageParam.mStitch.Pheight, imageParam.mStitch.Pwidth + imageParam.im.Width - x2 + 1, MatType.CV_8UC3);
+
+            //分离出重叠区域
+            OpenCvSharp.Rect m_select = new OpenCvSharp.Rect(x2 - 1, 0, imageParam.im.Width - x2 + 1, imageParam.mStitch.Pheight);
+            Mat imgSwitch = new Mat(imageParam.im, m_select);
+            Cv2.HConcat(imageParam.mStitch.im, imgSwitch, img);
+
+            return img;
+        }
+
+        public Mat Fun_StitchRGB(ImageParam imageParam)
+        {
+            //图像融合
+            //输入参数:
+            //im2——待融合图像
+            //W_box——宽度信息
+            //H_box——高度信息
+            //bdown——上下信息
+            //MStitch——参数结构
+            //输出参数:
+            //MStitch——参数结构
+            //im——融合图像
+
+            Mat img = imageParam.im;
+            int x1 = 0;
+            int y1 = 0;
+            int x2 = 0;
+            int y2 = 0;
+            double w = 0.5; //融合权值
+
+            if (imageParam.bdown == 1)
+            {
+                //下区域重叠
+                x2 = 1;
+                //融合重叠区域
+                for (x1 = imageParam.mStitch.Pwidth - imageParam.W_box; x1 < imageParam.mStitch.Pwidth; x1++)
+                {
+                    y2 = 1;
+                    for (y1 = imageParam.mStitch.Pheight - imageParam.H_box + 1; y1 < imageParam.mStitch.Pheight; y1++)
+                    {
+                        //安全性检测
+                        CheckRC(ref x1, ref y1, imageParam.mStitch.im);
+                        CheckRC(ref x2, ref y2, imageParam.im);
+                        //融合权值
+                        w = (double)x2 / (double)imageParam.W_box;
+                        //加权融合
+                        double ColorR = imageParam.mStitch.im.At<Vec3b>(y1, x1).Item0 * (1.0 - w) + imageParam.im.At<Vec3b>(y2, x2).Item0 * w;
+                        double ColorG = imageParam.mStitch.im.At<Vec3b>(y1, x1).Item1 * (1.0 - w) + imageParam.im.At<Vec3b>(y2, x2).Item1 * w;
+                        double ColorB = imageParam.mStitch.im.At<Vec3b>(y1, x1).Item2 * (1.0 - w) + imageParam.im.At<Vec3b>(y2, x2).Item2 * w;
+                        if (imageParam.mStitch.im.At<Vec3b>(y1, x1).Item0 == imageParam.mStitch.im.At<Vec3b>(y1, x1).Item1 &&
+                            imageParam.mStitch.im.At<Vec3b>(y1, x1).Item1 == imageParam.mStitch.im.At<Vec3b>(y1, x1).Item2 &&
+                            imageParam.im.At<Vec3b>(y2, x2).Item0 == imageParam.im.At<Vec3b>(y2, x2).Item1 &&
+                            imageParam.im.At<Vec3b>(y2, x2).Item1 == imageParam.im.At<Vec3b>(y2, x2).Item2)
+                        {
+                            imageParam.mStitch.im.Set<Vec3b>(y1, x1, new Vec3b((byte)ColorR, (byte)ColorG, (byte)ColorB));
+                        }
+                        else
+                        {
+
+                        }
+
+                        y2 = y2 + 1;
+                    }
+                    x2 = x2 + 1;
+                }
+            }
+            else
+            {
+                //上区域重叠
+                x2 = 1;
+                //融合重叠区域
+                for (x1 = imageParam.mStitch.Pwidth - imageParam.W_box; x1 < imageParam.mStitch.Pwidth; x1++)
+                {
+                    y2 = 1;
+                    for (y1 = imageParam.mStitch.Pheight - imageParam.H_box + 1; y1 < imageParam.mStitch.Pheight; y1++)
+                    {
+                        //安全性检测
+                        CheckRC(ref x1, ref y1, imageParam.mStitch.im);
+                        CheckRC(ref x2, ref y2, imageParam.im);
+                        //融合权值
+                        w = (double)x2 / (double)imageParam.W_box;
+                        //加权融合
+                        double ColorR = imageParam.mStitch.im.At<Vec3b>(y1, x1).Item0 * (1.0 - w) + imageParam.im.At<Vec3b>(y2, x2).Item0 * w;
+                        double ColorG = imageParam.mStitch.im.At<Vec3b>(y1, x1).Item1 * (1.0 - w) + imageParam.im.At<Vec3b>(y2, x2).Item1 * w;
+                        double ColorB = imageParam.mStitch.im.At<Vec3b>(y1, x1).Item2 * (1.0 - w) + imageParam.im.At<Vec3b>(y2, x2).Item2 * w;
+                        if (imageParam.mStitch.im.At<Vec3b>(y1, x1).Item0 == imageParam.mStitch.im.At<Vec3b>(y1, x1).Item1 &&
+                            imageParam.mStitch.im.At<Vec3b>(y1, x1).Item1 == imageParam.mStitch.im.At<Vec3b>(y1, x1).Item2 &&
+                            imageParam.im.At<Vec3b>(y2, x2).Item0 == imageParam.im.At<Vec3b>(y2, x2).Item1 &&
+                            imageParam.im.At<Vec3b>(y2, x2).Item1 == imageParam.im.At<Vec3b>(y2, x2).Item2)
+                        {
+                            imageParam.mStitch.im.Set<Vec3b>(y1, x1, new Vec3b((byte)ColorR, (byte)ColorG, (byte)ColorB));
+                        }
+                        else
+                        {
+
+                        }
+
+                        y2 = y2 + 1;
+                    }
+                    x2 = x2 + 1;
+                }
+            }
+
+            //最终图
+            img = new Mat(imageParam.mStitch.Pheight, imageParam.mStitch.Pwidth + imageParam.im.Width - x2 + 1, MatType.CV_8UC3);
+
+            //分离出重叠区域
+            OpenCvSharp.Rect m_select = new OpenCvSharp.Rect(x2 - 1, 0, imageParam.im.Width - x2 + 1, imageParam.mStitch.Pheight);
+            Mat imgSwitch = new Mat(imageParam.im, m_select);
+            Cv2.HConcat(imageParam.mStitch.im, imgSwitch, img);
+
+            return img;
+        }
+        #endregion
+    }
+}