绘制一对图像匹配点以及图像矫正，Homography，LoFTR

用LoFTR模型得到两张图的匹配点（是叫这个术语吧？？）

 img0 = torch.from_numpy(img0_raw)[None][None].cuda() / 255.
    img1 = torch.from_numpy(img1_raw)[None][None].cuda() / 255.
    batch = {'image0': img0, 'image1': img1}

    # Inference with LoFTR and get prediction
    with torch.no_grad():
        matcher(batch)
        mkpts0 = batch['mkpts0_f'].cpu().numpy()
        mkpts1 = batch['mkpts1_f'].cpu().numpy()
        mconf = batch['mconf'].cpu().numpy()
    fig = make_matching_figure(img0_raw, img1_raw, mkpts0, mkpts1, color, text)

会得到 图片以及对应的点（list）：img0_raw, img1_raw, mkpts0, mkpts1

绘图：

def make_matching_figure(img0, img1, mkpts0, mkpts1, color, text=[], path=None):
    # draw image pair
    fig, axes = plt.subplots(2, 2, figsize=(10, 6), dpi=75)
    axes[0,0].imshow(img0, cmap='gray')
    axes[0,1].imshow(img1, cmap='gray')
    for i in range(2):   # clear all frames
        axes[0,i].get_yaxis().set_ticks([])
        axes[0,i].get_xaxis().set_ticks([])
        for spine in axes[0,i].spines.values():
            spine.set_visible(False)
    plt.tight_layout(pad=1)

    # draw matches
    fig.canvas.draw()
    transFigure = fig.transFigure.inverted()
    fkpts0 = transFigure.transform(axes[0,0].transData.transform(mkpts0))
    fkpts1 = transFigure.transform(axes[0,1].transData.transform(mkpts1))
    fig.lines = [matplotlib.lines.Line2D((fkpts0[i, 0], fkpts1[i, 0]), (fkpts0[i, 1], fkpts1[i, 1]),
                                         transform=fig.transFigure, c=color[i], linewidth=1) for i in range(len(mkpts0))]

    axes[0,0].scatter(mkpts0[:, 0], mkpts0[:, 1], c=color, s=4)
    axes[0,1].scatter(mkpts1[:, 0], mkpts1[:, 1], c=color, s=4)

    # put txts
    txt_color = 'k' if img0[:100, :200].mean() > 200 else 'w'
    fig.text(
        0.01, 0.99, '\n'.join(text), transform=fig.axes[0].transAxes,
        fontsize=15, va='top', ha='left', color=txt_color)
    plt.tight_layout(pad=1)

    H, _ = cv2.findHomography(mkpts0,mkpts1, cv2.RANSAC, 2.0)
    align_image = cv2.warpPerspective(img0, H,
                                      (img0.shape[1], img0.shape[0]))
    axes[1,0].imshow(align_image, cmap='gray')
    axes[1,1].imshow(img1, cmap='gray')

    plt.show()

    # save or return figure
    if path:
        plt.savefig(str(path), bbox_inches='tight', pad_inches=0)
        plt.close()
    else:
        return fig

报错

Traceback (most recent call last):
  File "test_single_pair.py", line 123, in <module>
    fig = make_matching_figure(img0_raw, img1_raw, mkpts0, mkpts1, color, text)
  File "test_single_pair.py", line 46, in make_matching_figure
    H, _ = cv2.findHomography(mkpts0,mkpts1, cv2.RANSAC, 2.0)
cv2.error: OpenCV(4.4.0) /tmp/pip-req-build-99ib2vsi/opencv/modules/calib3d/src/ptsetreg.cpp:174: error: (-215:Assertion failed) count >= 0 && count2 == count in function 'run'

原因 cv2.findHomography(mkpts0,mkpts1, cv2.RANSAC, 2.0) 输入的点少于四个
加入判断：

if len(mkpts0)>3:
        H, _ = cv2.findHomography(mkpts0,mkpts1, cv2.RANSAC, 2.0)

openCV 特征点识别 与findHomography算法过滤