RK3588 opencv maliGPU图像拼接

1 左边图

图像大小:1920*1080

2右边图

图像大小:1920*1080

3拼接好的图像

图像大小：1920 *1080

PS 其他效果图

4代码

#include <iostream>
#include <opencv2/opencv.hpp>
#include <opencv2/highgui.hpp>//图像融合
#include <opencv2/xfeatures2d.hpp>//拼接算法
#include <opencv2/calib3d.hpp>
#include <opencv2/imgproc.hpp>
#include"openclTool.h"
 
using namespace std;
using namespace cv;
using namespace cv::xfeatures2d;
 
typedef struct
{
    Point2f left_top;
    Point2f left_bottom;
    Point2f right_top;
    Point2f right_bottom;
}four_corners_t;
 
four_corners_t corners;
 
void CalcCorners(const Mat& H, const Mat& src)
{
    double v2[] = { 0, 0, 1 };//左上角
    double v1[3];//变换后的坐标值
    Mat V2 = Mat(3, 1, CV_64FC1, v2);  //列向量
    Mat V1 = Mat(3, 1, CV_64FC1, v1);  //列向量
 
    V1 = H * V2;
    //左上角(0,0,1)
    cout << "V2: " << V2 << endl;
    cout << "V1: " << V1 << endl;
    corners.left_top.x = v1[0] / v1[2];
    corners.left_top.y = v1[1] / v1[2];
 
    //左下角(0,src.rows,1)
    v2[0] = 0;
    v2[1] = src.rows;
    v2[2] = 1;
    V2 = Mat(3, 1, CV_64FC1, v2);  //列向量
    V1 = Mat(3, 1, CV_64FC1, v1);  //列向量
    V1 = H * V2;
    corners.left_bottom.x = v1[0] / v1[2];
    corners.left_bottom.y = v1[1] / v1[2];
 
    //右上角(src.cols,0,1)
    v2[0] = src.cols;
    v2[1] = 0;
    v2[2] = 1;
    V2 = Mat(3, 1, CV_64FC1, v2);  //列向量
    V1 = Mat(3, 1, CV_64FC1, v1);  //列向量
    V1 = H * V2;
    corners.right_top.x = v1[0] / v1[2];
    corners.right_top.y = v1[1] / v1[2];
 
    //右下角(src.cols,src.rows,1)
    v2[0] = src.cols;
    v2[1] = src.rows;
    v2[2] = 1;
    V2 = Mat(3, 1, CV_64FC1, v2);  //列向量
    V1 = Mat(3, 1, CV_64FC1, v1);  //列向量
    V1 = H * V2;
    corners.right_bottom.x = v1[0] / v1[2];
    corners.right_bottom.y = v1[1] / v1[2];
 
}
 
//图像融合的去裂缝处理操作
void OptimizeSeam(Mat& img1, Mat& trans, Mat& dst)
{
    int start = MIN(corners.left_top.x, corners.left_bottom.x);//开始位置，即重叠区域的左边界
 
    double processWidth = img1.cols - start;//重叠区域的宽度
    int rows = dst.rows;
    int cols = img1.cols; //注意，是列数*通道数
    double alpha = 1;//img1中像素的权重
    for (int i = 0; i < rows; i++)
    {
        uchar* p = img1.ptr<uchar>(i);  //获取第i行的首地址
        uchar* t = trans.ptr<uchar>(i);
        uchar* d = dst.ptr<uchar>(i);
        for (int j = start; j < cols; j++)
        {
            //如果遇到图像trans中无像素的黑点，则完全拷贝img1中的数据
            if (t[j * 3] == 0 && t[j * 3 + 1] == 0 && t[j * 3 + 2] == 0)
            {
                alpha = 1;
            }
            else
            {
                //img1中像素的权重，与当前处理点距重叠区域左边界的距离成正比，实验证明，这种方法确实好
                alpha = (processWidth - (j - start)) / processWidth;
            }
 
            d[j * 3] = p[j * 3] * alpha + t[j * 3] * (1 - alpha);
            d[j * 3 + 1] = p[j * 3 + 1] * alpha + t[j * 3 + 1] * (1 - alpha);
            d[j * 3 + 2] = p[j * 3 + 2] * alpha + t[j * 3 + 2] * (1 - alpha);
 
        }
    }
}
 
int run()
{
    //左图
    Mat left = imread("0519_1.jpg");
    //右图
    Mat right = imread("0519_2.jpg");
    resize(left, left, Size(1920,1080), 0, 0, INTER_LINEAR);
    resize(right, right, Size(1920,1080), 0, 0, INTER_LINEAR);
 
    //左右图显示
    imshow("left",left);
    imshow("right",right);
    imwrite("left.jpg",left);
    imwrite("right.jpg",right);
    
 
    //创建SURF对象
    Ptr<SURF> surf;
    //create 函数参数 海森矩阵阀值 800特征点以内
    surf = SURF::create(800);
 
    //创建一个暴力匹配器 用于特征点匹配
    BFMatcher matcher;
 
    //特征点容器 存放特征点KeyPoint
    vector<KeyPoint>key1,key2;
    //保存特征点
    Mat c,d;
 
    //1、选择特征点
    //左图 右图 识别特征点 是Mat对象 用c d保存
    surf->detectAndCompute(left,Mat(),key2,d);
    surf->detectAndCompute(right,Mat(),key1,c);
 
    //特征点对比，保存   特征点为中心点区域比对
    vector<DMatch> matches;
    matcher.match(d,c,matches);
 
    //排序从小到大 找到特征点连线
    sort(matches.begin(),matches.end());
 
    //2、保存最优的特征点对象
    vector<DMatch>good_matches;
    int ptrpoint = std::min(50,(int)(matches.size()*0.15));
    for (int i = 0;i < ptrpoint;i++)
    {
        good_matches.push_back(matches[i]);
    }
 
    //2-1、画线 最优的特征点对象连线
    Mat outimg;
    drawMatches(left,key2,right,key1,good_matches,outimg,
                Scalar::all(-1),Scalar::all(-1),
                vector<char>(),DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);
 
    //imshow("outimg",outimg);
 
    //3、特征点匹配
    vector<Point2f>imagepoint1,imagepoint2;
    for (int i= 0 ;i < good_matches.size();i++)
    {
        //查找特征点可连接处                          变形
        imagepoint1.push_back(key1[good_matches[i].trainIdx].pt);
        //查找特征点可连接处                          查找基准线
        imagepoint2.push_back(key2[good_matches[i].queryIdx].pt);
    }
 
    //4、透视转换 图形融合
    
    Mat homo = findHomography(imagepoint1,imagepoint2,cv::RANSAC);
    //imshow("homo",homo);
 
    //根据透视转换矩阵进行计算 四个坐标
    CalcCorners(homo,right);
 
    //接收透视转换结果
    while (1)
    {
    auto time0=time();
    Mat imageTransForm;
    //透视转换
    warpPerspective(right,imageTransForm,homo,
                    Size(MAX(corners.right_top.x,corners.right_bottom.x),left.rows));
 
    //右图透视变换 由于本次图片材料是自己截图拼接的 因此看不出透视变换的明显特征
    //imshow("imageTransForm",imageTransForm);
 
    //结果进行整合
    int dst_width = imageTransForm.cols;
    int dst_height = left.rows;
 
    Mat dst(dst_height,dst_width,CV_8UC3);
    dst.setTo(0);
 
    imageTransForm.copyTo(dst(Rect(0,0,imageTransForm.cols,imageTransForm.rows)));
    left.copyTo(dst(Rect(0,0,left.cols,left.rows)));
 
    //5、优化图像
    OptimizeSeam(left,imageTransForm,dst);
    auto time1=time();
    auto time_use = time_diff(time0, time1);
    std::cout << "--=--]time cost-:" <<time_use <<std::endl;
 
    //最终图像拼接结果
    imshow("dst",dst);

    waitKey(1);
       
    }
    
    return 0;
}
int main()
{

while(1)
{run();}  
}

5 运作速度，单位ms

6 maliGPU资源占用

7 CPU 和内存资源占用