content: import java.util.ArrayList;
  import java.util.List;
  
  import org.opencv.core.*;
  import org.opencv.core.Range;
  import org.opencv.highgui.HighGui;
  import org.opencv.imgcodecs.Imgcodecs;
  import org.opencv.imgproc.Imgproc;
  
  
  class PanoramaStitchingRotatingCameraRun {
      void basicPanoramaStitching (String[] args) {
          String img1path = args[0], img2path = args[1];
          Mat img1 = new Mat(), img2 = new Mat();
          img1 = Imgcodecs.imread(img1path);
          img2 = Imgcodecs.imread(img2path);
  
          //! [camera-pose-from-Blender-at-location-1]
          Mat c1Mo = new Mat( 4, 4, CvType.CV_64FC1 );
          c1Mo.put(0 ,0 ,0.9659258723258972, 0.2588190734386444, 0.0, 1.5529145002365112,
                   0.08852133899927139, -0.3303661346435547, -0.9396926164627075, -0.10281121730804443,
                   -0.24321036040782928, 0.9076734185218811, -0.342020183801651, 6.130080699920654,
                   0, 0, 0, 1 );
          //! [camera-pose-from-Blender-at-location-1]
  
          //! [camera-pose-from-Blender-at-location-2]
          Mat c2Mo = new Mat( 4, 4, CvType.CV_64FC1 );
          c2Mo.put(0, 0, 0.9659258723258972, -0.2588190734386444, 0.0, -1.5529145002365112,
                   -0.08852133899927139, -0.3303661346435547, -0.9396926164627075, -0.10281121730804443,
                   0.24321036040782928, 0.9076734185218811, -0.342020183801651, 6.130080699920654,
                   0, 0, 0, 1);
          //! [camera-pose-from-Blender-at-location-2]
  
          //! [camera-intrinsics-from-Blender]
          Mat cameraMatrix = new Mat(3, 3, CvType.CV_64FC1);
          cameraMatrix.put(0, 0, 700.0, 0.0, 320.0, 0.0, 700.0, 240.0, 0, 0, 1 );
          //! [camera-intrinsics-from-Blender]
  
          //! [extract-rotation]
          Range rowRange = new Range(0,3);
          Range colRange = new Range(0,3);
          //! [extract-rotation]
  
          //! [compute-rotation-displacement]
          //c1Mo * oMc2
          Mat R1 = new  Mat(c1Mo, rowRange, colRange);
          Mat R2 = new Mat(c2Mo, rowRange, colRange);
          Mat R_2to1 = new Mat();
          Core.gemm(R1, R2.t(), 1, new Mat(), 0, R_2to1 );
          //! [compute-rotation-displacement]
  
          //! [compute-homography]
          Mat tmp = new Mat(), H = new Mat();
          Core.gemm(cameraMatrix, R_2to1, 1, new Mat(), 0, tmp);
          Core.gemm(tmp, cameraMatrix.inv(), 1, new Mat(), 0, H);
          Scalar s = new Scalar(H.get(2, 2)[0]);
          Core.divide(H, s, H);
          System.out.println(H.dump());
          //! [compute-homography]
  
          //! [stitch]
          Mat img_stitch = new Mat();
          Imgproc.warpPerspective(img2, img_stitch, H, new Size(img2.cols()*2, img2.rows()) );
          Mat half = new Mat();
          half =  new Mat(img_stitch, new Rect(0, 0, img1.cols(), img1.rows()));
          img1.copyTo(half);
          //! [stitch]
  
          Mat img_compare = new Mat();
          Mat img_space = Mat.zeros(new Size(50, img1.rows()), CvType.CV_8UC3);
          List<Mat>list = new ArrayList<>();
          list.add(img1);
          list.add(img_space);
          list.add(img2);
          Core.hconcat(list, img_compare);
  
          HighGui.imshow("Compare Images", img_compare);
          HighGui.imshow("Panorama Stitching", img_stitch);
          HighGui.waitKey(0);
          System.exit(0);
      }
  }
  
  public class PanoramaStitchingRotatingCamera {
      public static void main(String[] args) {
          System.loadLibrary(Core.NATIVE_LIBRARY_NAME);
          new PanoramaStitchingRotatingCameraRun().basicPanoramaStitching(args);
      }
  }
  