opencv双鱼眼摄像头处理成全景之可视化特征点匹配

基于双鱼眼的全景视频图像拼接CV算法实战
该项目中，有些同学不会可视化特征点。我统一写一下，真心很简单。

函数

我们定义一个函数make_matching_plot。你需要传入特征点匹配的图一和图二，以及匹配的特征点信息和可视化图像的保存地址。

import cv2
import pdb
import numpy as np
from matplotlib import cm

def make_matching_plot(image0, image1, mkp0, mkp1, save_path):
    img_matches = np.zeros((max(image0.shape[0], image1.shape[0]), 100+image0.shape[1] + image1.shape[1], 3), dtype=np.uint8)
    img_matches[:image0.shape[0], :image0.shape[1], :] = image0
    img_matches[:image1.shape[0], -image1.shape[1]:, :] = image1
    color_list = np.linspace(0, 1, len(mkp0))
    np.random.shuffle(color_list) 
    colors = cm.rainbow(color_list)
    for (pt0, pt1), color in zip(zip(mkp0, mkp1), colors):
        img0_coord = (int(pt0[0][0]), int(pt0[0][1]))
        img1_coord = (int(pt1[0][0])+100+image0.shape[1], int(pt1[0][1]))
        color_bgr = tuple(int(c * 255) for c in color[:3])
        cv2.line(img_matches,img0_coord, img1_coord, color_bgr, 2, lineType=cv2.LINE_AA)
        cv2.circle(img_matches, img0_coord, 1, color_bgr, 4)
        cv2.circle(img_matches, img1_coord, 1, color_bgr, 4)
    cv2.imwrite(save_path, img_matches)

代码中

Algorithm/outer_api.py中120行位置

            """add two side features points to gen homograpy"""
            src_pts_L = np.float32([kp1_L[m.queryIdx].pt for m in good_L]).reshape(-1, 1, 2)
            dst_pts_L = np.float32([kp2_L[m.trainIdx].pt for m in good_L]).reshape(-1, 1, 2)
            
            src_pts_R = np.float32([kp1_R[m.queryIdx].pt for m in good_R]).reshape(-1, 1, 2)
            dst_pts_R = np.float32([kp2_R[m.trainIdx].pt for m in good_R]).reshape(-1, 1, 2)
            # pdb.set_trace()
            # only superpoints
            make_matching_plot(overlap_left_img1,overlap_left_img2, src_pts_L, dst_pts_L, 'left_sift.png')
            make_matching_plot(overlap_right_img1,overlap_right_img2, src_pts_R, dst_pts_R, 'right_sift.png')
            make_matching_plot(overlap_right_img1,overlap_right_img2, kp1_L_cnn.reshape(-1, 1, 2), kp2_L_cnn.reshape(-1, 1, 2), 'left_superpoint.png')
            make_matching_plot(overlap_right_img1,overlap_right_img2, kp1_R_cnn.reshape(-1, 1, 2), kp2_R_cnn.reshape(-1, 1, 2), 'right_superpoint.png')

结果

大家可以猜猜下面哪些是sift+NN的匹配和superpoint+superglue的匹配结果