surf特征做图像拼接

#include "highgui/highgui.hpp"    
#include "opencv2/nonfree/nonfree.hpp"    
#include "opencv2/legacy/legacy.hpp"   
#include <iostream>  
using namespace cv;
using namespace std;
void OptimizeSeam(Mat& img1, Mat& trans, Mat& dst);
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];
}
int main(int argc, char *argv[])
{
Mat image01 = imread("2.jpg", 1);    //右图
Mat image02 = imread("1.jpg", 1);    //左图
imshow("p2", image01);
imshow("p1", image02);


//灰度图转换  
Mat image1, image2;
cvtColor(image01, image1, CV_RGB2GRAY);
cvtColor(image02, image2, CV_RGB2GRAY);




//提取特征点    
SurfFeatureDetector Detector(2000);
vector<KeyPoint> keyPoint1, keyPoint2;
Detector.detect(image1, keyPoint1);
Detector.detect(image2, keyPoint2);


//特征点描述，为下边的特征点匹配做准备    
SurfDescriptorExtractor Descriptor;
Mat imageDesc1, imageDesc2;
Descriptor.compute(image1, keyPoint1, imageDesc1);
Descriptor.compute(image2, keyPoint2, imageDesc2);


FlannBasedMatcher matcher;
vector<vector<DMatch> > matchePoints;
vector<DMatch> GoodMatchePoints;


vector<Mat> train_desc(1, imageDesc1);
matcher.add(train_desc);
matcher.train();


matcher.knnMatch(imageDesc2, matchePoints, 2);
cout << "total match points: " << matchePoints.size() << endl;


// Lowe's algorithm,获取优秀匹配点
for (int i = 0; i < matchePoints.size(); i++)
{
if (matchePoints[i][0].distance < 0.4 * matchePoints[i][1].distance)
{
GoodMatchePoints.push_back(matchePoints[i][0]);
}
}


Mat first_match;
drawMatches(image02, keyPoint2, image01, keyPoint1, GoodMatchePoints, first_match);
imshow("first_match ", first_match);


vector<Point2f> imagePoints1, imagePoints2;


for (int i = 0; i<GoodMatchePoints.size(); i++)
{
imagePoints2.push_back(keyPoint2[GoodMatchePoints[i].queryIdx].pt);
imagePoints1.push_back(keyPoint1[GoodMatchePoints[i].trainIdx].pt);
}






//获取图像1到图像2的投影映射矩阵 尺寸为3*3  
Mat homo = findHomography(imagePoints1, imagePoints2, CV_RANSAC);
也可以使用getPerspectiveTransform方法获得透视变换矩阵，不过要求只能有4个点，效果稍差  
//Mat   homo=getPerspectiveTransform(imagePoints1,imagePoints2);  
cout << "变换矩阵为：\n" << homo << endl << endl; //输出映射矩阵      


//计算配准图的四个顶点坐标
CalcCorners(homo, image01);
cout << "left_top:" << corners.left_top << endl;
cout << "left_bottom:" << corners.left_bottom << endl;
cout << "right_top:" << corners.right_top << endl;
cout << "right_bottom:" << corners.right_bottom << endl;


//图像配准  
Mat imageTransform1, imageTransform2;
warpPerspective(image01, imageTransform1, homo, Size(MAX(corners.right_top.x, corners.right_bottom.x), image02.rows));
//warpPerspective(image01, imageTransform2, adjustMat*homo, Size(image02.cols*1.3, image02.rows*1.8));
imshow("直接经过透视矩阵变换", imageTransform1);
imwrite("trans1.jpg", imageTransform1);




//创建拼接后的图,需提前计算图的大小
int dst_width = imageTransform1.cols;  //取最右点的长度为拼接图的长度
int dst_height = image02.rows;


Mat dst(dst_height, dst_width, CV_8UC3);
dst.setTo(0);


imageTransform1.copyTo(dst(Rect(0, 0, imageTransform1.cols, imageTransform1.rows)));
image02.copyTo(dst(Rect(0, 0, image02.cols, image02.rows)));


imshow("b_dst", dst);




OptimizeSeam(image02, imageTransform1, dst);




imshow("dst", dst);
imwrite("dst.jpg", dst);


waitKey();


return 0;
}




//优化两图的连接处，使得拼接自然
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);


}
}

 

}

//本程序只能对图片进行左右拼接，需特别注意输入图片的左右位置关系。

来源：http://www.cnblogs.com/skyfsm/p/7411961.html