function [shearedImg, finalImg] = run(images, circular, homogs, Ycrop, f, k1, k2)
%This is the core module. This code takes a set of images, and an array of pairwise homographies,
%and creates the panorama from them. It can create both partial and complete (full 360 degree) panoramas.
oldW = 0;
oldH = 0;
noImages = size(images, 4);
for i=1:noImages-1
im1 = cylinder_projection(images(:,:,:,i), f, k1, k2);
im2 = cylinder_projection(images(:,:,:,i+1), f, k1, k2);
W = homogs(i, 1);
H = homogs(i, 2);
W,H
if (i == 1)
finalImg = stich(im1, im2, floor(W), floor(H));
else
finalImg = stich(finalImg, im2, oldW + floor(W), oldH + floor(H));
end
oldW = oldW + floor(W);
oldH = oldH + floor(H);
i
end
if (circular == 1 )%判断连接方式 连接成360度全景图 将第一张与最后一张连接
disp('circular sticthing.');
% then we need to fiddle with stitching half（缝合） of the first
% image at the end of the panorama, and setting Xcrop
% so that half of the first image is removed from the
% beginning of the panorama.
imlast = cylinder_projection(images(:,:,:,noImages), f, k1, k2);
imfirst = cylinder_projection(images(:,:,:,1), f, k1, k2);
W = homogs(noImages, 1);
H = homogs(noImages, 2);
Xcrop = size(images(:,:,:,1), 2)/2;
finalImg = stich(finalImg, imfirst, oldW + floor(W), oldH + floor(H), Xcrop);
shear = (oldH + floor(H))/(oldW + floor(W));
else
disp('no circular sticthing.');
Xcrop = 0;
shear = oldH/oldW;
end
xdim = size(finalImg, 2);
ydim = size(finalImg, 1);
ytarget = size(images(:,:,:,1), 1);
shear
for i=Xcrop+1:xdim
for j=Ycrop+1:ytarget-Ycrop
ydash = floor(shear * i + j);
if (ydash > 0 && ydash <= ydim)
shearedImg(j-Ycrop, i-Xcrop,:) = finalImg(ydash, i, :);
end
end
end
