opencv全景图像拼接

需要先创建一个Stitcher文件,方便拼接图片时作为库引用。

以下代码为Stitcher.py文件的内容。

import cv2
import numpy as np

class Stitcher:
    # 构造拼接函数
    def stitch(self, images, ratio=0.75, reprojThresh=4.0, showMatches=True):
        # 获取输入图片
        (imageB, imageA) = images
        # 检测A、B图片的SIFT关键特征点,并计算其相应的特征描述子
        (kpsA, featuresA) = self.detectAndDescribe(imageA)
        (kpsB, featuresB) = self.detectAndDescribe(imageB)

        # 匹配两张图片的所有特征点,返回匹配结果
        M = self.matchKeypoints(kpsA, kpsB, featuresA, featuresB, ratio, reprojThresh)

        # 如果返回的结果为空,没有匹配成功的特征点,退出算法
        if M is None:
            return None
        # 否则,提取匹配结果
        # H是3x3视角变换矩阵
        (matches, H, status) = M
        # 将图片A进行视角变换,result是变换后的图片
        # +imageB.shape[1]方便在左边放下第二张图
        result = cv2.warpPerspective(imageA, H, (imageA.shape[1] + imageB.shape[1], imageA.shape[0]))
        self.cv_show('result', result)
        # 将图片B传入result图片的最左端
        result[0:imageB.shape[0], 0:imageB.shape[1]] = imageB
        self.cv_show('result', result)
        # 检测是否需要匹配图片
        if showMatches:
            # 生成匹配图片
            vis = self.drawMatches(imageA, imageB, kpsA, kpsB, matches, status)
            return result, vis

        # 返回匹配结果
        return result

    def cv_show(self, name, img):
        cv2.imshow(name, img)
        cv2.waitKey(0)
        cv2.destroyAllWindows()

    def detectAndDescribe(self, image):
        # 将彩色图片转换成灰色图片
        gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)

        # 建立SIFT生成器
        descriptor = cv2.SIFT_create()
        # 检测SIFT特征点,并计算特征描述子
        kps, features = descriptor.detectAndCompute(image, None)
        # 因为要做计算,将结果转换为numpy数组
        kps = np.float32([kp.pt for kp in kps])
        return kps, features

    def matchKeypoints(self, kpsA, kpsB, featuresA, featuresB, ratio, reprojThresh):
        # 建立暴力匹配器
        matcher = cv2.BFMatcher()

        # 使用KNN检测来自A、B图的SIFT特征匹配对,K=2
        rawMatches = matcher.knnMatch(featuresA, featuresB, 2)

        matches = []
        for m in rawMatches:
            # 当最近距离跟次近距离的比值小于ratio时,保留此匹配对
            if len(m) == 2 and m[0].distance < m[1].distance * ratio:
                # 存储两个点在featuresA,featuresB中的索引值
                matches.append((m[0].trainIdx, m[0].queryIdx))

        # 当筛选后的匹配对大于4时,计算视角变换矩阵,投影变换要求最低有4对
        if len(matches) > 4:
            # 获取匹配对的点坐标
            ptsA = np.float32([kpsA[i] for (_, i) in matches])
            ptsB = np.float32([kpsB[i] for (i, _) in matches])

            # 计算视角变换矩阵
            # RANSAC算法算得的单应性矩阵
            H, status = cv2.findHomography(ptsA, ptsB, cv2.RANSAC, reprojThresh)
            return matches, H, status
        # 如果匹配对小于4时,返回None
        return None

    def drawMatches(self, imageA, imageB, kpsA, kpsB, matches, status):
        # 初始化可视化图片,将A、B左右连接到一起
        (hA, wA) = imageA.shape[:2]
        (hB, wB) = imageB.shape[:2]
        vis = np.zeros((max(hA, hB), wA+wB, 3), dtype='uint8')
        vis[0:hA, 0:wA] = imageA
        vis[0:hB, wA:] = imageB

        # 联合遍历,会出匹配对
        for ((trainIdx, queryIdx), s) in zip(matches, status):
            # 当点对匹配成功时,画到可视图上
            if s == 1:
                # 画出匹配对
                ptA = (int(kpsA[queryIdx][0]), int(kpsA[queryIdx][1]))
                ptB = (int(kpsB[trainIdx][0]) + wA, int(kpsB[trainIdx][1]))
                # 用于在图像中画线,ptA为起点,ptB为终点
                cv2.line(vis, ptA, ptB, (0, 255, 0), 1)
        # 返回可视化结果
        return vis

然后编写显示拼接图片的代码。

from Stitcher import Stitcher
import cv2

def cv_show(name, img):
    cv2.imshow(name, img)
    cv2.waitKey(0)
    cv2.destroyAllWindows()

# 读取拼接图片
imageA = cv2.imread('图像1(放在左边的图像)的名称')
imageB = cv2.imread('图像2的名称')

# 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
cv_show('ImageA', imageA)
cv_show('ImageB', imageB)
cv_show('Keypoints Matches', vis)
cv_show('Result', result)