OTS/OTSIncAMeasureApp/ServiceCenter/ImageStitchUsingOpenCvSharp.cs

using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace OTSMeasureApp.ServiceCenter
{
    using OpenCvSharp;
  
    public 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
    }
}