图像拼接

基本步骤：提取特征点（这里用的是SURF提取特征点），计算特征向量，训练一个匹配器，特征点匹配，根据劳式判据得到优秀的匹配点，计算透视变换矩阵，进行透视变换，计算透视变换后的坐标（H*V），计算拼接后图片的大小，进行拼接，优化连接处。优化连接处的思想：加权处理两幅图的像素，即在重合区域内，像素点距离重合区域左边界越近，左图像素比例约大，距离约圆，左图像素比例越小。

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;
	cout << "V2: " << V2 << endl;
	cout << "V1: " << V1 << endl;
	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;
	cout << "V2: " << V2 << endl;
	cout << "V1: " << V1 << endl;
	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;
	cout << "V2: " << V2 << endl;
	cout << "V1: " << V1 << endl;
	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("4.jpg", 1);    //右图
	Mat image02 = imread("3.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);
	cout << imageTransform1.size().width << endl;


	//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  
	cout<<"img1:" << img1.channels() << endl;
	cout<<"trans:" << trans.channels()<<endl;
	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);
			
		}
	}

}

参考OpenCV探索之路（二十四）图像拼接和图像融合技术