OpenCV实现两幅图片全景拼接

课程作业的一个题目，找了代码加了注释。

import numpy as np
import cv2


class Stitcher:

    def stitch(self, images, ratio=0.75, reprojThresh=4.0,
        showMatches=False):

        # 检测出关键点，局部不变描述符
        (imageB, imageA) = images
        (kpsA, featuresA) = self.detectAndDescribe(imageA)
        (kpsB, featuresB) = self.detectAndDescribe(imageB)

        print("关键点个数",len(kpsA),len(kpsB))

        # 特征匹配
        M = self.matchKeypoints(kpsA, kpsB,
            featuresA, featuresB, ratio, reprojThresh)

        # 如果特征匹配返回None
        if M is None:
            return None

        # 将图像粘合在一起
        (matches, H, status) = M
        # 根据单应性矩阵进行矫正图片
        result = cv2.warpPerspective(imageA, H,
            (imageA.shape[1] + imageB.shape[1], imageA.shape[0]))
        # imageA.shape[1]=400,imageB.shape[1]=400,imageA.shape[0]=533
        # result.shape[0]=533,result.shape[1]=800