全景拼接 matlab,基于特征的全景图像拼接

clc

clear

% 读取和载入图片

buildingDir = fullfile(toolboxdir('vision'), 'visiondata',

'building');

buildingScene = imageDatastore(buildingDir);

montage(buildingScene.Files);

%读取第一幅图像从图像中

I = readimage(buildingScene,1);

grayImage = rgb2gray(I);

points =detectSURFFeatures(grayImage);

[features,points] = extractFeatures(grayImage,points);

numImages = numel(buildingScene.Files);

tforms(numImages) = projective2d(eye(3));

I_pre = I;

for n = 2:numImages

%store points and

features for I(n-1).

pointsPrevious =

points;

featuresPrevious =

features;

%Read I(n).

I =

readimage(buildingScene, n);

%

Detect and extract SURFfeatures for I(n)

grayImage = rgb2gray(I);

points

=  detectSURFFeatures(grayImage);

[features, points] = extractFeatures(grayImage,

points);

% Find correspondences

between I(n) and I(n-1).

indexPairs =

matchFeatures(features, featuresPrevious, 'Unique', true);

matchedPoints =

points(indexPairs(:,1), :);

matchedPointsPrev =

pointsPrevious(indexPairs(:,2), :);

% Estimate the

transformation between I(n) and I(n-1).

[tforms(n),inlierBoxPoints, inlierScenePoints] =

estimateGeometricTransform(matchedPoints,

matchedPointsPrev,'projective', 'Confidence', 99.9, 'MaxNumTrials',

2000);

%  %

Compute T(1) * ... * T(n-1) * T(n)

%  figure,showMatchedFeatures(I,I_pre,inlierBoxPoints,inlierScenePoints,

'montage');

%  I_pre = I;

tforms(n).T =

tforms(n-1).T * tforms(n).T;

end

imageSize = size(I); %  all the images are

the same size

% Compute the output limits  for each

transform

% Compute the output limits  for each

transform

for i = 1:numel(tforms)

[xlim(i,:), ylim(i,:)] =

outputLimits(tforms(i), [1 imageSize(2)], [1 imageSize(1)]);

end

avgXLim = mean(xlim, 2);

[~, idx] = sort(avgXLim);

centerIdx = floor((numel(tforms)+1)/2);

centerImageIdx = idx(centerIdx);

Tinv = invert(tforms(centerImageIdx));

for i = 1:numel(tforms)

tforms(i).T = Tinv.T * tforms(i).T;

end

for i = 1:numel(tforms)

[xlim(i,:), ylim(i,:)] = outputLimits(tforms(i),

[1 imageSize(2)], [1 imageSize(1)]);

end

xMin = min([1;xlim(:)]);

xMax = max([imageSize(2); xlim(:)]);

yMin = min([1; ylim(:)]);

yMax = max([imageSize(1); ylim(:)]);

% %

% Width and height of panorama.

width  = round(xMax - xMin);

height = round(yMax - yMin);

% Create the panorama.

I = readimage(buildingScene, 1);

T = double(tforms(1,1).T);

H = maketform('projective',T);

g = imtransform(I,H,'XData',[xMin xMax],'YData',[yMin

yMax]);

warp =

imtransform(uint8(ones(size(I,1),size(I,2),3)),H,'XData',[xMin

xMax],'YData',[yMin yMax]);

[h,w] = size(rgb2gray(g));

panorama = uint8(zeros(h,w,3));

panorama =  panorama + g.*warp;

for i = 2:numImages

warpPrevious =

warp;

I =

readimage(buildingScene, i);

% Transform I into the

panorama.

T =

double(tforms(1,i).T);

H =

maketform('projective',T);

g =

imtransform(I,H,'XData',[xMin xMax],'YData',[yMin yMax]);

% Generate a binary

mask.

warp =

imtransform(uint8(ones(size(I,1),size(I,2),3)),H,'XData',[xMin

xMax],'YData',[yMin yMax]);

% Overlay the

warpedImage onto the panorama.

ghost =

(1-warpPrevious).*warp;

panorama =

panorama + g.*ghost;

end

figure,imshow(panorama)