https://github.com/lionelmessi6410/Panorama-Stitching
https://github.com/thoailinh/panorama_stitching_images
国外开源的：
https://blog.csdn.net/yangpan011/article/details/81387299
基于深度学习Superpoint 的Python图像全景拼接
参考
https://github.com/kushalvyas/Python-Multiple-Image-Stitching
https://github.com/MagicLeapResearch/SuperPointPretrainedNetwork
https://github.com/syinari0123/SuperPoint-VO
用superpoint方法代替surf提取图像特征，进行Python版本的图像拼接。
注意，Python版本图像拼接效果并不好，本博客只是学习记录。
用superpoint方法代替surf提取图像特征，进行Python版本的图像拼接。
注意，Python版本图像拼接效果并不好，本博客只是学习记录。
改动后的matchers.py如下：
import cv2
import numpy as np
from sp_extractor import SuperPointFrontend
class matchers:
def __init__(self):
self.surf = cv2.xfeatures2d.SURF_create()
self.detector = SuperPointFrontend(weights_path="superpoint_v1.pth",
nms_dist=4,
conf_thresh=0.015,
nn_thresh=0.7,
cuda=True)
FLANN_INDEX_KDTREE = 0
index_params = dict(algorithm=0, trees=5)
search_params = dict(checks=50)
self.flann = cv2.FlannBasedMatcher(index_params, search_params)
def match(self, i1, i2, direction=None):
imageSet1 = self.getSURFFeatures(i1)
imageSet2 = self.getSURFFeatures(i2)
print "Direction : ", direction
matches = self.flann.knnMatch(
np.asarray(imageSet2['des'],np.float32),
np.asarray(imageSet1['des'],np.float32),
k=2
)
good = []
for i , (m, n) in enumerate(matches):
if m.distance < 0.7*n.distance:
good.append((m.trainIdx, m.queryIdx))
if len(good) > 4:
pointsCurrent = imageSet2['kp']
pointsPrevious = imageSet1['kp']
matchedPointsCurrent = np.float32(
[pointsCurrent[i] for (__, i) in good]
)
matchedPointsPrev = np.float32(
[pointsPrevious[i] for (i, __) in good]
)
H, s = cv2.findHomography(matchedPointsCurrent, matchedPointsPrev, cv2.RANSAC, 4)
return H
return None
def getSURFFeatures(self, im):
gray = cv2.cvtColor(im, cv2.COLOR_BGR2GRAY)
pts, desc, heatmap = self.detector.run(gray)
#kp, des = self.surf.detectAndCompute(gray, None)
原文：https://blog.csdn.net/qq_33591712/article/details/84947829
GPU加速与L-ORB特征提取的全景视频实时拼接
https://download.csdn.net/download/niyan6281/10311358
surf,sift算法配准，利用Ransac去除误匹配，c++源码
https://download.csdn.net/download/u011000097/10666371
surf+ransac匹配
https://download.csdn.net/download/qq_41800983/11110370
免费软件：
http://www.greenxf.com/soft/264469.html
可以用四个方向键控制拼接方向，只是速度有点慢。
#!/usr/bin/env python
# -*- coding: utf-8 -*-
import os
import numpy as np
import cv2 as cv
from matplotlib import pyplot as plt
if __name__ == '__main__':
path='shudong/'
files =os.listdir(path)
srcImg = cv.imread('shudong/00001.jpg')
# srcImg=cv.resize(srcImg,(srcImg.shape[1]//2,srcImg.shape[0]//2))
srcImg=cv.resize(srcImg,(400,300))
move_top, move_bot, move_left, move_right = 4, 0, 0, 1
# srcImg = cv.copyMakeBorder(srcImg, top, bot, left, right, cv.BORDER_CONSTANT, value=(0, 0, 0))
index=0
for i,file in enumerate(files):
if i%5<4:
continue
index+=1
srcImg = cv.copyMakeBorder(srcImg, move_top, 0, 0, move_right, cv.BORDER_CONSTANT, value=(0, 0, 0))
testImg=cv.imread(path+file)
testImg = cv.resize(testImg, (400, 300))
cv.imshow("a", testImg)
testImg = cv.copyMakeBorder(testImg, move_top*index, 0, 0, move_right*index, cv.BORDER_CONSTANT, value=(0, 0, 0))
img1gray = cv.cvtColor(srcImg, cv.COLOR_BGR2GRAY)
img2gray = cv.cvtColor(testImg, cv.COLOR_BGR2GRAY)
sift = cv.xfeatures2d_SIFT().create()
# find the keypoints and descriptors with SIFT
kp1, des1 = sift.detectAndCompute(img1gray, None)
kp2, des2 = sift.detectAndCompute(img2gray, None)
# FLANN parameters
FLANN_INDEX_KDTREE = 1
index_params = dict(algorithm=FLANN_INDEX_KDTREE, trees=5)
search_params = dict(checks=50)
flann = cv.FlannBasedMatcher(index_params, search_params)
matches = flann.knnMatch(des1, des2, k=2)
# Need to draw only good matches, so create a mask
matchesMask = [[0, 0] for i in range(len(matches))]
good = []
pts1 = []
pts2 = []
# ratio test as per Lowe's paper
for i, (m, n) in enumerate(matches):
if m.distance < 0.7*n.distance:
good.append(m)
pts2.append(kp2[m.trainIdx].pt)
pts1.append(kp1[m.queryIdx].pt)
matchesMask[i] = [1, 0]
draw_params = dict(matchColor=(0, 255, 0),
singlePointColor=(255, 0, 0),
matchesMask=matchesMask,
flags=0)
# img3 = cv.drawMatchesKnn(img1gray, kp1, img2gray, kp2, matches, None, **draw_params)
# plt.imshow(img3, ), plt.show()
rows, cols = srcImg.shape[:2]
MIN_MATCH_COUNT = 10
if len(good) > MIN_MATCH_COUNT:
src_pts = np.float32([kp1[m.queryIdx].pt for m in good]).reshape(-1, 1, 2)
dst_pts = np.float32([kp2[m.trainIdx].pt for m in good]).reshape(-1, 1, 2)
M, mask = cv.findHomography(src_pts, dst_pts, cv.RANSAC, 5.0)
warpImg = cv.warpPerspective(testImg, np.array(M), (testImg.shape[1], testImg.shape[0]), flags=cv.WARP_INVERSE_MAP)
for col in range(0, cols):
if srcImg[:, col].any() and warpImg[:, col].any():
left = col
break
for col in range(cols-1, 0, -1):
if srcImg[:, col].any() and warpImg[:, col].any():
right = col
break
res = np.zeros([rows, cols, 3], np.uint8)
for row in range(0, rows):
for col in range(0, cols):
if not srcImg[row, col].any():
res[row, col] = warpImg[row, col]
elif not warpImg[row, col].any():
res[row, col] = srcImg[row, col]
else:
srcImgLen = float(abs(col - left))
testImgLen = float(abs(col - right))
alpha = srcImgLen / (srcImgLen + testImgLen)
res[row, col] = np.clip(srcImg[row, col] * (1-alpha) + warpImg[row, col] * alpha, 0, 255)
# opencv is bgr, matplotlib is rgb
cv.imshow("asdf",res)
print(res.shape)
cv.waitKeyEx(1)
srcImg=res
else:
print("Not enough matches are found - {}/{}".format(len(good), MIN_MATCH_COUNT))
matchesMask = Nonec++ opencv4 图像拼接：
【OpenCV】opencv4.0.1下 SIFT、SURF的使用
2019年03月30日 22:29:09 GordonWei 阅读数 1171
版权声明：本文为博主原创文章，转载请注明出处。 https://blog.csdn.net/Gordon_Wei/article/details/88920411
opencv4.0.1 的编译完成版本已经没有SIFT和SURF算法了， 一些算法因为专利或者未成熟的原因，不在发布的release版本中了，其中就包括SIFT和SURF，他们因为专利的原因不能用于商业，在2.x版本中，放在在nofree中，而3.x版本开始，这些方法被放入了opencv_contrib中，如果想使用需要自己编译到opencv中。
这里需要自己编译OpenCV4.0.1 + opencv_contrib4.0.1 具体方法可参考我的另一篇博客【OpenCV】opencv4.0.1+opencv_contrib4.0.1+VS2015的编译
以下是实现的SUFR算法 如果使用SIFT稍微改下即可
#include <opencv2/opencv.hpp>
#include <opencv2/xfeatures2d.hpp>
int main()
{
cv::Mat imageL = cv::imread("imgL.bmp");
cv::Mat imageR = cv::imread("imgR.bmp");
//提取特征点方法
//SIFT
//cv::Ptr<cv::xfeatures2d::SIFT> sift = cv::xfeatures2d::SIFT::create();
//ORB
//cv::Ptr<cv::ORB> orb = cv::ORB::create();
//SURF
cv::Ptr<cv::xfeatures2d::SURF> surf = cv::xfeatures2d::SURF::create();
//特征点
std::vector<cv::KeyPoint> keyPointL, keyPointR;
//单独提取特征点
surf->detect(imageL, keyPointL);
surf->detect(imageR, keyPointR);
//画特征点
cv::Mat keyPointImageL;
cv::Mat keyPointImageR;
drawKeypoints(imageL, keyPointL, keyPointImageL, cv::Scalar::all(-1), cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS);
drawKeypoints(imageR, keyPointR, keyPointImageR, cv::Scalar::all(-1), cv::DrawMatchesFlags::DRAW_RICH_KEYPOINTS);
//显示窗口
cv::namedWindow("KeyPoints of imageL");
cv::namedWindow("KeyPoints of imageR");
//显示特征点
cv::imshow("KeyPoints of imageL", keyPointImageL);
cv::imshow("KeyPoints of imageR", keyPointImageR);
//特征点匹配
cv::Mat despL, despR;
//提取特征点并计算特征描述子
surf->detectAndCompute(imageL, cv::Mat(), keyPointL, despL);
surf->detectAndCompute(imageR, cv::Mat(), keyPointR, despR);
//Struct for DMatch: query descriptor index, train descriptor index, train image index and distance between descriptors.
//int queryIdx –>是测试图像的特征点描述符（descriptor）的下标，同时也是描述符对应特征点（keypoint)的下标。
//int trainIdx –> 是样本图像的特征点描述符的下标，同样也是相应的特征点的下标。
//int imgIdx –>当样本是多张图像的话有用。
//float distance –>代表这一对匹配的特征点描述符（本质是向量）的欧氏距离，数值越小也就说明两个特征点越相像。
std::vector<cv::DMatch> matches;
//如果采用flannBased方法 那么 desp通过orb的到的类型不同需要先转换类型
if (despL.type() != CV_32F || despR.type() != CV_32F)
{
despL.convertTo(despL, CV_32F);
despR.convertTo(despR, CV_32F);
}
cv::Ptr<cv::DescriptorMatcher> matcher = cv::DescriptorMatcher::create("FlannBased");
matcher->match(despL, despR, matches);
//计算特征点距离的最大值
double maxDist = 0;
for (int i = 0; i < despL.rows; i++)
{
double dist = matches[i].distance;
if (dist > maxDist)
maxDist = dist;
}
//挑选好的匹配点
std::vector< cv::DMatch > good_matches;
for (int i = 0; i < despL.rows; i++)
{
if (matches[i].distance < 0.5*maxDist)
{
good_matches.push_back(matches[i]);
}
}
cv::Mat imageOutput;
cv::drawMatches(imageL, keyPointL, imageR, keyPointR, good_matches, imageOutput);
cv::namedWindow("picture of matching");
cv::imshow("picture of matching", imageOutput);
cv::waitKey(0);
return 0;
}
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