How do you create a panorama with multiple images?

I have a script that is connected to a raspberry pi with pan/tilt servos on a webcam. I am attempting to create a panorama by taking images and using the subplot command, but there is the blank space between the images.

function takePano(rpi, s1, s2)
%rpi is a raspberry pi, and s1/s2 are servos.
index=0;

for ii=0:2
    
    for jj=0:2
        %These 2 lines move the camera to the correct orientation.
        writePosition(s1, 180-(90*jj))
        writePosition(s2, 90*ii)
        pause(0.5)
        %These 2 lines take the picture and transfer it to my computer.
        system(rpi, 'fswebcam -r 1920x1080 --no-banner pano_rpi.png')
        getFile(rpi, '/home/pi/pano_rpi.png')
        
        index=index+1;
        %This line creates the pano one image at a time (per iteration).
        subplot(3,3,index), imshow('pano_rpi.png')
        
        disp(index)
            
    end
    
end
%These 2 lines zero the camera position after it is done.
writePosition(s1, 90)
writePosition(s2, 90)

end

Is there a way to eliminate this blank space or a better way to do this?

NOTE: every time the raspberry pi takes a new picture it over-writes the previous one using the same file name.

Answer 1

[Divya Yerraguntla]

Hi Alexander,

You could use the imread and montage functions from Image Processing Toolbox to accomplish your task instead of using subplots. Have a look at a modified version of your code below:

function takePano(rpi, s1, s2)
%rpi is a raspberry pi, and s1/s2 are servos.
index=0;

for ii=0:2
    
    for jj=0:2
        %These 2 lines move the camera to the correct orientation.
        writePosition(s1, 180-(90*jj))
        writePosition(s2, 90*ii)
        pause(0.5)
        %These 2 lines take the picture and transfer it to my computer.
        system(rpi, 'fswebcam -r 1920x1080 --no-banner pano_rpi.png')
        getFile(rpi, '/home/pi/pano_rpi.png')
        
        index=index+1;
        
        allimages(:,:,:,index) = imread('pano_rpi.png') % All the images are written to 
                                                        % variable allimages by the end of the loop
        imshow('pano_rpi.png')
        disp(index)      
    end 
end

montage(allimages); % displays all your images without space

%These 2 lines zero the camera position after it is done.
writePosition(s1, 90)
writePosition(s2, 90)

end

Hope it helps!