OpenCV计算机视觉实战 - 图像特征(Harris+Sift)检测 和 全景图像拼接

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一、Harris 角点检测

角点检测算法基本思想：使用一个固定窗口在图像上进行任意方向上的滑动，比较滑动前与滑动后两种情况，窗口中的像素灰度变化程度，如果存在任意方向上的滑动，都有着较大灰度变化，那么我们可以认为该窗口中存在角点。

Harris 算法的原理 与 公式解析

在一副图像中可能存在以下三类点：平面点，边界点 和 角点

用下面这张图两条线做个夹角，表示三种点的位置。当它们移动的时候，灰度值会发生变化
平面点：x 和 y 方向变化不大
边界点：x 或 y 方向变化大
角点：x 和 y 方向的变化都大

做减法：是为了获得平移前后的差异
平方：是为了获得这样一个变化的趋势，负数就无意义了，因为-5 比 2的变化幅度大；而且对这趋势做了个增强

度量角点响应

总结一下Harris算法流程

• 获取点数据后,计算Ix 和 Iy
• 整合矩阵,求特征值
• 比较特征值大小
• 非极大值抑制NMS,过滤掉不是那么角的

详细解析 https://blog.csdn.net/linqianbi/article/details/78930239

OpenCV中的Harris操作

• cv2.cornerHarris(img, blockSize, k)
  img： 数据类型为 float32 的入图像
  blockSize： 角点检测中指定区域的大小，前面提到的w(u,v),可能是个高斯函数
  ksize： 就像Sobel求导中使用的窗口大小
  k： 取值参数为 [0,04,0.06]. 默认0.04
  返回dst：输出图像

import cv2 
import numpy as np

img = cv2.imread(‘test_1.jpg’)
print (‘img.shape:’,img.shape)
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
# gray = np.float32(gray)
dst = cv2.cornerHarris(gray, 2, 3, 0.04)
print (‘dst.shape:’,dst.shape)

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dst.max是最大值,一定是角点
只要dst中满足0.01倍的最大值，就判定为角点，要求较高的也可以调大点

# 设置为其他倍数
img[dst>0.01*dst.max()]=[0,0,255]
cv2.imshow('dst',img) 
cv2.waitKey(0) 
cv2.destroyAllWindows()

 
 

 
 
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二、Sift 角点检测

1.图像尺度空间

在一定的范围内，无论物体是大还是小，人眼都可以分辨出来，然而计算机要有相同的能力却很难，所以要让机器能够对物体在不同尺度下有一个统一的认知，就需要考虑图像在不同的尺度下都存在的特点，对图像进行不同尺度的改变。

尺度空间的获取通常使用高斯模糊来实现

• 高斯函数对图像做滤波操作，得到高斯模糊后的结果
  
  不同σ的高斯函数决定了对图像的平滑程度，越大的σ值对应的图像越模糊。

2.多分辨率金字塔

1. 金字塔有多个层级
2. 同一层级中，有不同的高斯滤波
   

3.高斯差分金字塔（DOG）

两个高斯模糊后的特征相减，得到DOG
然后怎么找极值点？每个点都要跟周围的点比较。继续往下看

4.DoG空间极值检测

为了寻找尺度空间的极值点，每个像素点要和其图像域（同一尺度空间-8个点）和尺度域（相邻的尺度空间-上下各9个 共18个）的所有相邻点（共26）进行比较，当其大于（或者小于）所有相邻点时，该点就是极值点。如下图所示，中间的检测点要和其所在图像的3×3邻域8个像素点，以及其相邻的上下两层的3×3领域18个像素点，共26个像素点进行比较。

最上/下层无法比较，故4层特征图中只有2层才能检测极值点。
但这步检测的离散极值点 不一定是 最终的极值点，故需要精确定位

5.关键点的精确定位

这些候选关键点是DOG空间的局部极值点，而且这些极值点均为离散的点，精确定位极值点的一种方法是，对尺度空间DoG函数进行曲线拟合，计算其极值点，从而实现关键点的精确定位。

6.消除边界响应

类似于Harris角点中的角点相应R值，Tr(H)² / Det(H)，大于10的是边界，要进行过滤操作

7.特征点的主方向

每个特征点可以得到三个信息(x,y,σ,θ)，即位置、尺度（m(x,y)）和方向。具有多个方向的关键点可以被复制成多份，然后将方向值分别赋给复制后的特征点，一个特征点就产生了多个坐标、尺度相等，但是方向不同的特征点。

然后咋用这些点？看下面

8.生成特征描述

在完成关键点的梯度计算后，使用直方图统计邻域内像素的梯度和方向。
为了简单起见，只统计8个方向（0-45, 45-90, 90-135,135-180, 180-235, 235-270, 270-315, 315-360）

为了保证特征矢量的旋转不变性，要以特征点为中心，在附近邻域内将坐标轴旋转θ角度，即将坐标轴旋转为特征点的主方向。

旋转之后的主方向为中心取8x8的窗口，求每个像素的梯度幅值和方向，箭头方向代表梯度方向，长度代表梯度幅值，然后利用高斯窗口对其进行加权运算，最后在每个4x4的小块上绘制8个方向的梯度直方图，计算每个梯度方向的累加值，即可形成一个种子点，即每个特征的由4个种子点组成，每个种子点有8个方向的向量信息。

论文中建议对每个关键点使用4x4共16个种子点来描述，这样一个关键点就会产生128维的SIFT特征向量。

OpenCV中的Sift操作

OpenCV大于3.4版本 就对sift进行专利保护了，所以想免费使用的，看看sift效果的，降低一下版本吧

卸载 pip uninstall opencv-python 
安装 pip install opencv-contrib-python==3.4.1.15 
里面有很多包 pip install opencv-contrib-python==3.4.1.15

 
 

 
 
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import cv2
import numpy as np

img = cv2.imread(‘test_1.jpg’)
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)
print(cv2.version) # 3.4.1.15

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得到特征点 kp, 直接用drawKeypoints绘制关键点

sift = cv2.xfeatures2d.SIFT_create()
kp = sift.detect(gray, None)

img = cv2.drawKeypoints(gray, kp, img)

cv2.imshow(‘drawKeypoints’, img)
cv2.waitKey(0)
cv2.destroyAllWindows()

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计算特征 sift.compute
还是关键点kp 和 关键点相应的特征des （每个关键点都转化为128维向量）

kp, des = sift.compute(gray, kp)
print (np.array(kp).shape)	# (6827,) 原来是list, 用np转化一下, 就可以看shape了
# des.shape					# (6827, 128)
# des[0]
'''
array([  0.,   0.,   0.,   0.,   0.,   0.,   0.,   0.,  21.,   8.,   0.,
         0.,   0.,   0.,   0.,   0., 157.,  31.,   3.,   1.,   0.,   0.,
         2.,  63.,  75.,   7.,  20.,  35.,  31.,  74.,  23.,  66.,   0.,
         0.,   1.,   3.,   4.,   1.,   0.,   0.,  76.,  15.,  13.,  27.,
         8.,   1.,   0.,   2., 157., 112.,  50.,  31.,   2.,   0.,   0.,
         9.,  49.,  42., 157., 157.,  12.,   4.,   1.,   5.,   1.,  13.,
         7.,  12.,  41.,   5.,   0.,   0., 104.,   8.,   5.,  19.,  53.,
         5.,   1.,  21., 157.,  55.,  35.,  90.,  22.,   0.,   0.,  18.,
         3.,   6.,  68., 157.,  52.,   0.,   0.,   0.,   7.,  34.,  10.,
        10.,  11.,   0.,   2.,   6.,  44.,   9.,   4.,   7.,  19.,   5.,
        14.,  26.,  37.,  28.,  32.,  92.,  16.,   2.,   3.,   4.,   0.,
         0.,   6.,  92.,  23.,   0.,   0.,   0.], dtype=float32)
'''

 
 

 
 
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三、特征匹配

• cv2.drawMatches(imageA, kpsA, imageB, kpsB, matches[:10], None, flags=2) # 对两个图像关键点进行连线操作
  参数说明：imageA和imageB表示图片，kpsA和kpsB表示关键点， matches表示进过cv2.BFMatcher获得的匹配的索引值，也有距离， flags表示有几个图像

书籍的SIFT特征点连接：
第一步:使用sift.detectAndComputer找出关键点和sift特征向量
第二步：构建BFMatcher()蛮力匹配器，bf.match匹配sift特征向量，使用的是欧式距离
第三步：根据匹配结果matches.distance对matches按照距离进行排序
第四步：进行画图操作，使用cv2.drawMatches进行画图操作

• bf.match(des1, des2) 1 对 1 匹配
• bf.knnMatch(des1, des2, k=2) k对最佳匹配，此处是1个点最多可以跟2个点匹配

import cv2 
import numpy as np

img1 = cv2.imread(‘box.png’, 0)
img2 = cv2.imread(‘box_in_scene.png’, 0)
def cv_show(name,img):
cv2.imshow(name, img)
cv2.waitKey(0)
cv2.destroyAllWindows()
cv_show(‘img1’,img1)
cv_show(‘img2’,img2)

# 第一步：构造sift，求解出特征点和sift特征向量
sift = cv2.xfeatures2d.SIFT_create()
kp1, des1 = sift.detectAndCompute(img1, None)
kp2, des2 = sift.detectAndCompute(img2, None)

# 第二步：构造BFMatcher()蛮力匹配，匹配sift特征向量距离最近对应组分
# crossCheck 表示两个特征点要互相匹，
# 例如A中的第i个特征点与B中的第j个特征点最近的,并且B中的第j个特征点到A中的第i个特征点也是
# NORM_L2: 归一化数组的(欧几里德距离)，如果其他特征计算方法需要考虑不同的匹配计算方式
bf = cv2.BFMatcher(crossCheck=True)

# 获得匹配的结果【1 对 1 匹配】
matches = bf.match(des1, des2)

#第三步：对匹配的结果按照距离进行排序操作
matches = sorted(matches, key=lambda x: x.distance)

# 第四步：使用cv2.drawMacthes进行画图操作
# 只画前10个点
img3 = cv2.drawMatches(img1, kp1, img2, kp2, matches[:10], None,flags=2)
cv_show(‘img3’,img3)

# 【k对最佳匹配】
bf = cv2.BFMatcher()
matches = bf.knnMatch(des1, des2, k=2)
good = []
for m, n in matches:
if m.distance < 0.75 * n.distance:
good.append([m])

# good所有点都显示,就会有很多连线了
img4 = cv2.drawMatchesKnn(img1,kp1,img2,kp2,good,None,flags=2)
cv_show(‘img4’,img4)

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四、图像拼接

from Stitcher import Stitcher
import cv2

# 读取拼接图片
imageA = cv2.imread(“left_01.png”)
imageB = cv2.imread(“right_01.png”)

# 把图片拼接成全景图
stitcher = Stitcher()
(result, vis) = stitcher.stitch([imageA, imageB], showMatches=True)

# 显示所有图片
cv2.imshow(“Image A”, imageA)
cv2.imshow(“Image B”, imageB)
cv2.imshow(“Keypoint Matches”, vis)
cv2.imshow(“Result”, result)
cv2.waitKey(0)
cv2.destroyAllWindows()

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Stitcher的 stitch函数 检测流程 简述：

1. img A 和 img B做sift检测
2. 匹配特征点（具体看matchKeypoints流程）
3. 提取匹配结果，其中H是单应性矩阵
4. 对A进行H的视角变换
5. 将图片B传入result图片最左端
6. 检测是否需要显示图片匹配

matchKeypoints流程：

1. 建立暴力匹配器
2. k对匹配
3. 当筛选后的匹配对大于4时，计算视角变换矩阵
   其中findHomography： 计算多个二维点对之间的最优单映射变换矩阵 H(3行x3列)，使用最小均方误差或者RANSAC（原理，匹配效果）方法

Stitcher.py 完整代码如下：

import numpy as np
import cv2

class Stitcher:

<span class="token comment"># 拼接函数</span>
<span class="token keyword">def</span> <span class="token function">stitch</span><span class="token punctuation">(</span>self<span class="token punctuation">,</span> images<span class="token punctuation">,</span> ratio<span class="token operator">=</span><span class="token number">0.75</span><span class="token punctuation">,</span> reprojThresh<span class="token operator">=</span><span class="token number">4.0</span><span class="token punctuation">,</span>showMatches<span class="token operator">=</span><span class="token boolean">False</span><span class="token punctuation">)</span><span class="token punctuation">:</span>
    <span class="token comment">#获取输入图片</span>
    <span class="token punctuation">(</span>imageB<span class="token punctuation">,</span> imageA<span class="token punctuation">)</span> <span class="token operator">=</span> images
    <span class="token comment"># 1.检测A、B图片的SIFT关键特征点，并计算特征描述子</span>
    <span class="token punctuation">(</span>kpsA<span class="token punctuation">,</span> featuresA<span class="token punctuation">)</span> <span class="token operator">=</span> self<span class="token punctuation">.</span>detectAndDescribe<span class="token punctuation">(</span>imageA<span class="token punctuation">)</span>
    <span class="token punctuation">(</span>kpsB<span class="token punctuation">,</span> featuresB<span class="token punctuation">)</span> <span class="token operator">=</span> self<span class="token punctuation">.</span>detectAndDescribe<span class="token punctuation">(</span>imageB<span class="token punctuation">)</span>

    <span class="token comment"># 2.匹配两张图片的所有特征点，返回匹配结果</span>
    M <span class="token operator">=</span> self<span class="token punctuation">.</span>matchKeypoints<span class="token punctuation">(</span>kpsA<span class="token punctuation">,</span> kpsB<span class="token punctuation">,</span> featuresA<span class="token punctuation">,</span> featuresB<span class="token punctuation">,</span> ratio<span class="token punctuation">,</span> reprojThresh<span class="token punctuation">)</span>

    <span class="token comment"># 如果返回结果为空，没有匹配成功的特征点，退出算法</span>
    <span class="token keyword">if</span> M <span class="token keyword">is</span> <span class="token boolean">None</span><span class="token punctuation">:</span>
        <span class="token keyword">return</span> <span class="token boolean">None</span>

    <span class="token comment"># 3. 否则，提取匹配结果</span>
    <span class="token comment"># H是3x3视角变换矩阵      </span>
    <span class="token punctuation">(</span>matches<span class="token punctuation">,</span> H<span class="token punctuation">,</span> status<span class="token punctuation">)</span> <span class="token operator">=</span> M
    <span class="token comment"># 4.将图片A进行视角变换，result是变换后图片</span>
    result <span class="token operator">=</span> cv2<span class="token punctuation">.</span>warpPerspective<span class="token punctuation">(</span>imageA<span class="token punctuation">,</span> H<span class="token punctuation">,</span> <span class="token punctuation">(</span>imageA<span class="token punctuation">.</span>shape<span class="token punctuation">[</span><span class="token number">1</span><span class="token punctuation">]</span> <span class="token operator">+</span> imageB<span class="token punctuation">.</span>shape<span class="token punctuation">[</span><span class="token number">1</span><span class="token punctuation">]</span><span class="token punctuation">,</span> imageA<span class="token punctuation">.</span>shape<span class="token punctuation">[</span><span class="token number">0</span><span class="token punctuation">]</span><span class="token punctuation">)</span><span class="token punctuation">)</span>
    self<span class="token punctuation">.</span>cv_show<span class="token punctuation">(</span><span class="token string">'result'</span><span class="token punctuation">,</span> result<span class="token punctuation">)</span>
    <span class="token comment"># 5.将图片B传入result图片最左端</span>
    result<span class="token punctuation">[</span><span class="token number">0</span><span class="token punctuation">:</span>imageB<span class="token punctuation">.</span>shape<span class="token punctuation">[</span><span class="token number">0</span><span class="token punctuation">]</span><span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">:</span>imageB<span class="token punctuation">.</span>shape<span class="token punctuation">[</span><span class="token number">1</span><span class="token punctuation">]</span><span class="token punctuation">]</span> <span class="token operator">=</span> imageB
    self<span class="token punctuation">.</span>cv_show<span class="token punctuation">(</span><span class="token string">'result'</span><span class="token punctuation">,</span> result<span class="token punctuation">)</span>
    <span class="token comment"># 6.检测是否需要显示图片匹配</span>
    <span class="token keyword">if</span> showMatches<span class="token punctuation">:</span>
        <span class="token comment"># 生成匹配图片</span>
        vis <span class="token operator">=</span> self<span class="token punctuation">.</span>drawMatches<span class="token punctuation">(</span>imageA<span class="token punctuation">,</span> imageB<span class="token punctuation">,</span> kpsA<span class="token punctuation">,</span> kpsB<span class="token punctuation">,</span> matches<span class="token punctuation">,</span> status<span class="token punctuation">)</span>
        <span class="token comment"># 返回结果</span>
        <span class="token keyword">return</span> <span class="token punctuation">(</span>result<span class="token punctuation">,</span> vis<span class="token punctuation">)</span>

    <span class="token comment"># 返回匹配结果</span>
    <span class="token keyword">return</span> result
<span class="token keyword">def</span> <span class="token function">cv_show</span><span class="token punctuation">(</span>self<span class="token punctuation">,</span>name<span class="token punctuation">,</span>img<span class="token punctuation">)</span><span class="token punctuation">:</span>
    cv2<span class="token punctuation">.</span>imshow<span class="token punctuation">(</span>name<span class="token punctuation">,</span> img<span class="token punctuation">)</span>
    cv2<span class="token punctuation">.</span>waitKey<span class="token punctuation">(</span><span class="token number">0</span><span class="token punctuation">)</span>
    cv2<span class="token punctuation">.</span>destroyAllWindows<span class="token punctuation">(</span><span class="token punctuation">)</span>

<span class="token keyword">def</span> <span class="token function">detectAndDescribe</span><span class="token punctuation">(</span>self<span class="token punctuation">,</span> image<span class="token punctuation">)</span><span class="token punctuation">:</span>
    <span class="token comment"># 将彩色图片转换成灰度图</span>
    gray <span class="token operator">=</span> cv2<span class="token punctuation">.</span>cvtColor<span class="token punctuation">(</span>image<span class="token punctuation">,</span> cv2<span class="token punctuation">.</span>COLOR_BGR2GRAY<span class="token punctuation">)</span>

    <span class="token comment"># 建立SIFT生成器</span>
    descriptor <span class="token operator">=</span> cv2<span class="token punctuation">.</span>xfeatures2d<span class="token punctuation">.</span>SIFT_create<span class="token punctuation">(</span><span class="token punctuation">)</span>
    <span class="token comment"># 检测SIFT特征点，并计算描述子</span>
    <span class="token punctuation">(</span>kps<span class="token punctuation">,</span> features<span class="token punctuation">)</span> <span class="token operator">=</span> descriptor<span class="token punctuation">.</span>detectAndCompute<span class="token punctuation">(</span>image<span class="token punctuation">,</span> <span class="token boolean">None</span><span class="token punctuation">)</span>

    <span class="token comment"># 将结果转换成NumPy数组</span>
    kps <span class="token operator">=</span> np<span class="token punctuation">.</span>float32<span class="token punctuation">(</span><span class="token punctuation">[</span>kp<span class="token punctuation">.</span>pt <span class="token keyword">for</span> kp <span class="token keyword">in</span> kps<span class="token punctuation">]</span><span class="token punctuation">)</span>

    <span class="token comment"># 返回特征点集，及对应的描述特征</span>
    <span class="token keyword">return</span> <span class="token punctuation">(</span>kps<span class="token punctuation">,</span> features<span class="token punctuation">)</span>

<span class="token keyword">def</span> <span class="token function">matchKeypoints</span><span class="token punctuation">(</span>self<span class="token punctuation">,</span> kpsA<span class="token punctuation">,</span> kpsB<span class="token punctuation">,</span> featuresA<span class="token punctuation">,</span> featuresB<span class="token punctuation">,</span> ratio<span class="token punctuation">,</span> reprojThresh<span class="token punctuation">)</span><span class="token punctuation">:</span>
    <span class="token comment"># 1.建立暴力匹配器</span>
    matcher <span class="token operator">=</span> cv2<span class="token punctuation">.</span>BFMatcher<span class="token punctuation">(</span><span class="token punctuation">)</span>

    <span class="token comment"># 2.使用KNN检测来自A、B图的SIFT特征匹配对，K=2</span>
    rawMatches <span class="token operator">=</span> matcher<span class="token punctuation">.</span>knnMatch<span class="token punctuation">(</span>featuresA<span class="token punctuation">,</span> featuresB<span class="token punctuation">,</span> <span class="token number">2</span><span class="token punctuation">)</span>

    matches <span class="token operator">=</span> <span class="token punctuation">[</span><span class="token punctuation">]</span>
    <span class="token keyword">for</span> m <span class="token keyword">in</span> rawMatches<span class="token punctuation">:</span>
        <span class="token comment"># 当最近距离跟次近距离的比值小于ratio值时，保留此匹配对</span>
        <span class="token keyword">if</span> <span class="token builtin">len</span><span class="token punctuation">(</span>m<span class="token punctuation">)</span> <span class="token operator">==</span> <span class="token number">2</span> <span class="token operator">and</span> m<span class="token punctuation">[</span><span class="token number">0</span><span class="token punctuation">]</span><span class="token punctuation">.</span>distance <span class="token operator">&lt;</span> m<span class="token punctuation">[</span><span class="token number">1</span><span class="token punctuation">]</span><span class="token punctuation">.</span>distance <span class="token operator">*</span> ratio<span class="token punctuation">:</span>
        <span class="token comment"># 存储两个点在featuresA, featuresB中的索引值</span>
            matches<span class="token punctuation">.</span>append<span class="token punctuation">(</span><span class="token punctuation">(</span>m<span class="token punctuation">[</span><span class="token number">0</span><span class="token punctuation">]</span><span class="token punctuation">.</span>trainIdx<span class="token punctuation">,</span> m<span class="token punctuation">[</span><span class="token number">0</span><span class="token punctuation">]</span><span class="token punctuation">.</span>queryIdx<span class="token punctuation">)</span><span class="token punctuation">)</span>

    <span class="token comment"># 3.当筛选后的匹配对大于4时，计算视角变换矩阵</span>
    <span class="token keyword">if</span> <span class="token builtin">len</span><span class="token punctuation">(</span>matches<span class="token punctuation">)</span> <span class="token operator">&gt;</span> <span class="token number">4</span><span class="token punctuation">:</span>    <span class="token comment"># 至少4对,8个方程的单应性矩阵</span>
        <span class="token comment"># 获取匹配对的点坐标</span>
        ptsA <span class="token operator">=</span> np<span class="token punctuation">.</span>float32<span class="token punctuation">(</span><span class="token punctuation">[</span>kpsA<span class="token punctuation">[</span>i<span class="token punctuation">]</span> <span class="token keyword">for</span> <span class="token punctuation">(</span>_<span class="token punctuation">,</span> i<span class="token punctuation">)</span> <span class="token keyword">in</span> matches<span class="token punctuation">]</span><span class="token punctuation">)</span>
        ptsB <span class="token operator">=</span> np<span class="token punctuation">.</span>float32<span class="token punctuation">(</span><span class="token punctuation">[</span>kpsB<span class="token punctuation">[</span>i<span class="token punctuation">]</span> <span class="token keyword">for</span> <span class="token punctuation">(</span>i<span class="token punctuation">,</span> _<span class="token punctuation">)</span> <span class="token keyword">in</span> matches<span class="token punctuation">]</span><span class="token punctuation">)</span>

        <span class="token comment"># 计算视角变换矩阵</span>
        <span class="token punctuation">(</span>H<span class="token punctuation">,</span> status<span class="token punctuation">)</span> <span class="token operator">=</span> cv2<span class="token punctuation">.</span>findHomography<span class="token punctuation">(</span>ptsA<span class="token punctuation">,</span> ptsB<span class="token punctuation">,</span> cv2<span class="token punctuation">.</span>RANSAC<span class="token punctuation">,</span> reprojThresh<span class="token punctuation">)</span>

        <span class="token comment"># 返回结果</span>
        <span class="token keyword">return</span> <span class="token punctuation">(</span>matches<span class="token punctuation">,</span> H<span class="token punctuation">,</span> status<span class="token punctuation">)</span>

    <span class="token comment"># 4.如果匹配对小于4时，返回None</span>
    <span class="token keyword">return</span> <span class="token boolean">None</span>

<span class="token keyword">def</span> <span class="token function">drawMatches</span><span class="token punctuation">(</span>self<span class="token punctuation">,</span> imageA<span class="token punctuation">,</span> imageB<span class="token punctuation">,</span> kpsA<span class="token punctuation">,</span> kpsB<span class="token punctuation">,</span> matches<span class="token punctuation">,</span> status<span class="token punctuation">)</span><span class="token punctuation">:</span>
    <span class="token comment"># 初始化可视化图片，将A、B图左右连接到一起</span>
    <span class="token punctuation">(</span>hA<span class="token punctuation">,</span> wA<span class="token punctuation">)</span> <span class="token operator">=</span> imageA<span class="token punctuation">.</span>shape<span class="token punctuation">[</span><span class="token punctuation">:</span><span class="token number">2</span><span class="token punctuation">]</span>
    <span class="token punctuation">(</span>hB<span class="token punctuation">,</span> wB<span class="token punctuation">)</span> <span class="token operator">=</span> imageB<span class="token punctuation">.</span>shape<span class="token punctuation">[</span><span class="token punctuation">:</span><span class="token number">2</span><span class="token punctuation">]</span>
    vis <span class="token operator">=</span> np<span class="token punctuation">.</span>zeros<span class="token punctuation">(</span><span class="token punctuation">(</span><span class="token builtin">max</span><span class="token punctuation">(</span>hA<span class="token punctuation">,</span> hB<span class="token punctuation">)</span><span class="token punctuation">,</span> wA <span class="token operator">+</span> wB<span class="token punctuation">,</span> <span class="token number">3</span><span class="token punctuation">)</span><span class="token punctuation">,</span> dtype<span class="token operator">=</span><span class="token string">"uint8"</span><span class="token punctuation">)</span>
    vis<span class="token punctuation">[</span><span class="token number">0</span><span class="token punctuation">:</span>hA<span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">:</span>wA<span class="token punctuation">]</span> <span class="token operator">=</span> imageA
    vis<span class="token punctuation">[</span><span class="token number">0</span><span class="token punctuation">:</span>hB<span class="token punctuation">,</span> wA<span class="token punctuation">:</span><span class="token punctuation">]</span> <span class="token operator">=</span> imageB

    <span class="token comment"># 联合遍历，画出匹配对</span>
    <span class="token keyword">for</span> <span class="token punctuation">(</span><span class="token punctuation">(</span>trainIdx<span class="token punctuation">,</span> queryIdx<span class="token punctuation">)</span><span class="token punctuation">,</span> s<span class="token punctuation">)</span> <span class="token keyword">in</span> <span class="token builtin">zip</span><span class="token punctuation">(</span>matches<span class="token punctuation">,</span> status<span class="token punctuation">)</span><span class="token punctuation">:</span>
        <span class="token comment"># 当点对匹配成功时，画到可视化图上</span>
        <span class="token keyword">if</span> s <span class="token operator">==</span> <span class="token number">1</span><span class="token punctuation">:</span>
            <span class="token comment"># 画出匹配对</span>
            ptA <span class="token operator">=</span> <span class="token punctuation">(</span><span class="token builtin">int</span><span class="token punctuation">(</span>kpsA<span class="token punctuation">[</span>queryIdx<span class="token punctuation">]</span><span class="token punctuation">[</span><span class="token number">0</span><span class="token punctuation">]</span><span class="token punctuation">)</span><span class="token punctuation">,</span> <span class="token builtin">int</span><span class="token punctuation">(</span>kpsA<span class="token punctuation">[</span>queryIdx<span class="token punctuation">]</span><span class="token punctuation">[</span><span class="token number">1</span><span class="token punctuation">]</span><span class="token punctuation">)</span><span class="token punctuation">)</span>
            ptB <span class="token operator">=</span> <span class="token punctuation">(</span><span class="token builtin">int</span><span class="token punctuation">(</span>kpsB<span class="token punctuation">[</span>trainIdx<span class="token punctuation">]</span><span class="token punctuation">[</span><span class="token number">0</span><span class="token punctuation">]</span><span class="token punctuation">)</span> <span class="token operator">+</span> wA<span class="token punctuation">,</span> <span class="token builtin">int</span><span class="token punctuation">(</span>kpsB<span class="token punctuation">[</span>trainIdx<span class="token punctuation">]</span><span class="token punctuation">[</span><span class="token number">1</span><span class="token punctuation">]</span><span class="token punctuation">)</span><span class="token punctuation">)</span>
            cv2<span class="token punctuation">.</span>line<span class="token punctuation">(</span>vis<span class="token punctuation">,</span> ptA<span class="token punctuation">,</span> ptB<span class="token punctuation">,</span> <span class="token punctuation">(</span><span class="token number">0</span><span class="token punctuation">,</span> <span class="token number">255</span><span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">,</span> <span class="token number">1</span><span class="token punctuation">)</span>

    <span class="token comment"># 返回可视化结果</span>
    <span class="token keyword">return</span> vis

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