OpenCVSharp 4.5 单应性矩阵 - 全景照片拼接

用 OpenCVSharp 4.5 跑一遍 OpenCV 官方教程

原 OpenCV 官方教程链接：似乎网站宕机了

using System;
using OpenCvSharp;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace ConsoleApp1
{
    class tutorial55 : ITutorial
    {

        private void basicPanoramaStitching(string img1Path, string img2Path)
        {
            Mat img1 = new Mat(img1Path);
            Mat img2 = new Mat(img2Path);

            //! [camera-pose-from-Blender-at-location-1]
            Mat c1Mo = new Mat(4, 4, MatType.CV_64F, new Double[]{  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, MatType.CV_64F, new double[]{ 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, MatType.CV_64F, new double[]{700.0, 0.0, 320.0,
                                                 0.0, 700.0, 240.0,
                                                 0, 0, 1 });
            //! [camera-intrinsics-from-Blender]

            //! [extract-rotation]
            Mat R1 = c1Mo[new Range(0, 3), new Range(0, 3)];
            Mat R2 = c2Mo[new Range(0, 3), new Range(0, 3)];
            //! [extract-rotation]

            //! [compute-rotation-displacement]
            //c1Mo * oMc2
            Mat R_2to1 = R1 * R2.T();
            //! [compute-rotation-displacement]

            //! [compute-homography]
            Mat H = cameraMatrix * R_2to1 * cameraMatrix.Inv();
            H /= H.At<double>(2, 2);
            Console.WriteLine("H:\n", H);
            //! [compute-homography]

            //! [stitch]
            Mat img_stitch = new Mat();
            Cv2.WarpPerspective(img2, img_stitch, H, new Size(img2.Cols * 2, img2.Rows));
            Mat half = 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), MatType.CV_8UC3);
            Cv2.HConcat(img1, img_space, img_compare);
            Cv2.HConcat(img_compare, img2, img_compare);
            Cv2.ImShow("Compare images", img_compare);

            Cv2.ImShow("Panorama stitching", img_stitch);
            Cv2.WaitKey();
        }

        public void Run()
        {
            string image1 = @"I:\csharp\images\Blender_Suzanne1.jpg";
            string image2 = @"I:\csharp\images\Blender_Suzanne2.jpg";
            basicPanoramaStitching(image1, image2);
        }

    }
}