I am working on a live panorama algorithm on C++. Basically, I took Stitching_detailed.cpp from OpenCV as reference and started to modify it according to my needs. I have been carefully studying the stitching pipeline on which it is based ( as detailed in Images stitching by OpenCV and Automatic Panoramic Image Stitching using Invariant Features ).
My main problem now is the execution time. I tried to implement as much as I could in CUDA. However, I got some problems with the compositing block. It seems that there is no CUDA implementation for the Graph Cut Seam Finder algorithm.
I am aiming to stitch the images from 6 different cameras in ~60 ms (~15FPS). However, in my current implementation the CPU Version of GraphCut Seam Finder takes about 90 ms for only 3 images ( being 0.1 MP each).
I have tried to use other Seam Finder algorithms which are less computationally expensive as Voronoi and DP, but unfortunately the result is an unpleasant stitched image.
I am kind of lost here now, what could I do in order to speed up this part? Are there any other seam_finding/blending techniques I could make use of?