stitcher.py

#! /usr/bin/env python3
# -*- coding: utf-8 -*-
#
# Panorama
# Copyright (C) 2008, Nirav Patel
# Copyright (C) 2011, 2012, Alan Aguiar
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program.  If not, see <http://www.gnu.org/licenses/>.
#
# Contact information:
# Alan Aguiar <alanjas@gmail.com>
# Nirav Patel <sugarlabs@spongezone.net>

import pygame
import numpy


def build_panorama(self, images, auto_stich):
    N = len(images)
    a = 20
    d = [0]

    small = pygame.surface.Surface((160, 120), 0, self.display)

    # Translate and print first Image
    arrays = [pygame.surfarray.array3d(images[0])]
    arrays[0] = numpy.asarray(arrays[0]).sum(axis=2)
    small = pygame.transform.scale(images[0], (160, 120), small)
    self.display.blit(small, (a, 600))
    pygame.display.flip()

    # And now the rest
    for i in range(1, N):
        if auto_stich:
            arrays.append(pygame.surfarray.array3d(images[i]))
            arrays[i] = numpy.asarray(arrays[i]).sum(axis=2)
            d.append(determine_offset(arrays[i-1], arrays[i]))
            a += (640-d[i])/4
        else:
            a += 640/4
        small = pygame.transform.scale(images[i], (160, 120), small)
        self.display.blit(small, (a, 600))
        pygame.display.flip()

    final = pygame.surface.Surface(((a-20)*4+640, 480), 0, self.display)
    a = -640
    for i in range(N):
        if auto_stich:
            a += 640-d[i]
        else:
            a += 640
        final.blit(images[i], (a, 0))
    #a = 640
    # for i in range(1,N):
    #    images[i-1].set_alpha(127)
    #    final.blit(images[i-1],(a - d[i],0),(a - d[i],0,50,480))
    #    a+=640-d[i]
    #    images[i-1].set_alpha(None)
    return final


def determine_offset(a1, a2):
    (Y, X1) = a1.shape
    (Y, X2) = a2.shape
    maxoverlap = Y/2
    slicewidth = 100
    #pyramid = 4
    #sslicewidth = slicewidth/pyramid
    #sY = Y/pyramid
    ssd = []

    #sa1 = a1[::pyramid,::pyramid]
    #sa2 = a2[::pyramid,::pyramid]
    # for i in range(0,maxoverlap/pyramid):
    #    piece = numpy.subtract(sa1[sY-i-sslicewidth,:],sa2[0:sslicewidth,:])
    #    piece = numpy.multiply(piece,piece)
    #    ssd.append(piece.sum())
    #lowest = numpy.argmin(ssd)*pyramid
    # print lowest
    #ssd = []
    # for i in range(max(0,lowest-10),lowest+10):

    for i in range(0, maxoverlap):
        piece = numpy.subtract(a1[Y-i-slicewidth:Y-i, :], a2[0:slicewidth, :])
        piece = numpy.multiply(piece, piece)
        ssd.append(piece.sum())
    return numpy.argmin(ssd)+slicewidth