opencv获取sift关键点进行全景图像拼接

opencv获取sift关键点进行全景图像拼接

版本

pip install opencv-python==3.4.1.15
pip install opencv-contrib-python==3.4.1.15

获取sift关键点

import cv2
import numpy as np

img = cv2.imread('D:\\openCV_files\\data\\5\\test_1.jpg')
gray = cv2.cvtColor(img, cv2.COLOR_BGR2GRAY)

#得到特征点
sift = cv2.SIFT_create()  #opencv4.4.0以上版本重新支持了sift,调用方式由sift = cv2.xfeatures2d.SIFT_create()改为sift = cv2.SIFT_create()
kp = sift.detect(gray, None)  #关键点信息

img = cv2.drawKeypoints(gray, kp, img)  #绘制关键点

cv2.imshow('drawKeypoints', img)
cv2.waitKey(0)
cv2.destroyAllWindows()

#计算特征
kp, des = sift.compute(gray, kp)  #返回关键点
print(np.array(kp).shape)

print(des.shape)  #每个关键点被转换成128维的向量

print(des[0])  #取出来一个看看

图像拼接

import numpy as np
import cv2

class Stitcher:

    #拼接函数
    def stitch(self, images, ratio=0.75, reprojThresh=4.0,showMatches=False):
        #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是变换后图片
        result = cv2.warpPerspective(imageA, H, (imageA.shape[1] + imageB.shape[1], imageA.shape[0])) #+ imageB.shape[1]方便在左边放下第二张图
        self.cv_show('result', result)
        # 将图片B传入result图片最左端
        result[0:imageB.shape[0], 0:imageB.shape[1]] = imageB
        self.cv_show('result', result)
        # 检测是否需要显示图片匹配
        if showMatches:
            # 生成匹配图片
            vis = self.drawMatches(imageA, imageB, kpsA, kpsB, matches, status)
            # 返回结果
            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度图
        gray = cv2.cvtColor(image, cv2.COLOR_BGR2GRAY)

        # 建立SIFT生成器
        descriptor = cv2.SIFT_create()
        # 检测SIFT特征点，并计算描述子
        (kps, features) = descriptor.detectAndCompute(image, None)

        # 因为要做计算，将结果转换成NumPy数组
        kps = np.float32([kp.pt for kp in kps])

        # 返回特征点集，及对应的描述特征
        return (kps, features)

    def matchKeypoints(self, kpsA, kpsB, featuresA, featuresB, ratio, reprojThresh):#AB关键点，AB特征
        # 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值时，保留此匹配对
            if len(m) == 2 and m[0].distance < m[1].distance * ratio:#官方教程的比例就是0.75
            # 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
        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
            (H, status) = cv2.findHomography(ptsA, ptsB, cv2.RANSAC, reprojThresh)  #RANSAC算法算得的单应性矩阵

            # 返回结果
            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图左右连接到一起
        (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，画出匹配对
        for ((trainIdx, queryIdx), s) in zip(matches, status):
            # 当点对匹配成功时，画到可视化图上
            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]))
                cv2.line(vis, ptA, ptB, (0, 255, 0), 1)  #用于在图像中划线的函数，ptA起点，ptB终点

        # 返回可视化结果
        return vis

# 读取拼接图片
imageA = cv2.imread(r"D:\openCV_files\data\ImageStich\left_01.png")
imageB = cv2.imread(r"D:\openCV_files\data\ImageStich\right_01.png")

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

cv2.imshow("Keypoint Matches", vis)
cv2.imshow("Result", result)
cv2.waitKey(0)
cv2.destroyAllWindows()