全景拼接

一、全景拼接原理介绍
图像拼接(Image Stitching)是一种利用实景图像组成全景空间的技术，它将多幅图像拼接成一幅大尺度图像或360度全景图，图像拼接技术涉及到计算机视觉、计算机图形学、数字图像处理以及一些数学工具等技术。图像拼接其基本步骤主要包括以下几个方面：摄相机的标定、传感器图像畸变校正、图像的投影变换、匹配点选取、全景图像拼接（融合），以及亮度与颜色的均衡处理等.

二、针对不同场景做全景拼接
from pylab import *
from numpy import *
from PIL import Image

If you have PCV installed, these imports should work

from PCV.geometry import homography, warp
from PCV.localdescriptors import sift

“”"
This is the panorama example from section 3.3.
“”"

set paths to data folder

featname = [‘Univ’+str(i+1)+’.sift’ for i in range(5)]
imname = [‘Univ’+str(i+1)+’.jpg’ for i in range(5)]

extract features and match

l = {}
d = {}
for i in range(5):
sift.process_image(imname[i],featname[i])
l[i],d[i] = sift.read_features_from_file(featname[i])

matches = {}
for i in range(4):
matches[i] = sift.match(d[i+1],d[i])

visualize the matches (Figure 3-11 in the book)

for i in range(4):
im1 = array(Image.open(imname[i]))
im2 = array(Image.open(imname[i+1]))
figure()
sift.plot_matches(im2,im1,l[i+1],l[i],matches[i],show_below=True)

function to convert the matches to hom. points

def convert_points(j):
ndx = matches[j].nonzero()[0]
fp = homography.make_homog(l[j+1][ndx,:2].T)
ndx2 = [int(matches[j][i]) for i in ndx]
tp = homography.make_homog(l[j][ndx2,:2].T)

# switch x and y - TODO this should move elsewhere
fp = vstack([fp[1],fp[0],fp[2]])
tp = vstack([tp[1],tp[0],tp[2]])
return fp,tp

estimate the homographies

model = homography.RansacModel()

fp,tp = convert_points(1)
H_12 = homography.H_from_ransac(fp,tp,model)[0] #im 1 to 2

fp,tp = convert_points(0)
H_01 = homography.H_from_ransac(fp,tp,model)[0] #im 0 to 1

tp,fp = convert_points(2) #NB: reverse order
H_32 = homography.H_from_ransac(fp,tp,model)[0] #im 3 to 2

tp,fp = convert_points(3) #NB: reverse order
H_43 = homography.H_from_ransac(fp,tp,model)[0] #im 4 to 3

warp the images

delta = 2000 # for padding and translation

im1 = array(Image.open(imname[1]), “uint8”)
im2 = array(Image.open(imname[2]), “uint8”)
im_12 = warp.panorama(H_12,im1,im2,delta,delta)

im1 = array(Image.open(imname[0]), “f”)
im_02 = warp.panorama(dot(H_12,H_01),im1,im_12,delta,delta)

im1 = array(Image.open(imname[3]), “f”)
im_32 = warp.panorama(H_32,im1,im_02,delta,delta)

im1 = array(Image.open(imname[4]), “f”)
im_42 = warp.panorama(dot(H_32,H_43),im1,im_32,delta,2*delta)

figure()
imshow(array(im_42, “uint8”))
axis(‘off’)
show()

1.室内场景
2.室外景深落差较大的场景
3…室外景深落差较小的场景
取集美大学5张图片为例做全景拼接：
csdnimg.cn/20190331221035375.png?x-oss-process=image/watermark,type_ZmFuZ3poZW5naGVpdGk,shadow_10,text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L2pzanNkemQ=,size_16,color_FFFFFF,t_70)




全景拼接结果如下：