获得两张的单应矩阵

两张图片，至少找到4个对应的点，即可获得两张图的转换关系

       cv::Mat src1(1280, 960, CV_8UC1, cv::Scalar(0));
    circle(src1, cv::Point(360,360), 15, cv::Scalar(255,255,255),CV_FILLED, 8,0);
    circle(src1, cv::Point(760,360), 15, cv::Scalar(255,255,255),CV_FILLED, 8,0);
    circle(src1, cv::Point(760,760), 15, cv::Scalar(255,255,255),CV_FILLED, 8,0);
    circle(src1, cv::Point(460,760), 15, cv::Scalar(255,255,255),CV_FILLED, 8,0);
    cv::Mat src2(1280, 960, CV_8UC1, cv::Scalar(0));
    circle(src2, cv::Point(150,360), 15, cv::Scalar(255,255,255),CV_FILLED, 8,0);
    circle(src2, cv::Point(750,360), 15, cv::Scalar(255,255,255),CV_FILLED, 8,0);
    circle(src2, cv::Point(740,760), 15, cv::Scalar(255,255,255),CV_FILLED, 8,0);
    circle(src2, cv::Point(400,760), 15, cv::Scalar(255,255,255),CV_FILLED, 8,0);

    cv::imwrite("src1.bmp", src1);
    cv::imwrite("src2.bmp", src2);
    SimpleBlobDetector::Params params;
    params.blobColor = 255;
    Ptr<SimpleBlobDetector> detector = SimpleBlobDetector::create(params);
    vector<KeyPoint> keypoints, keypoints2;
    detector->detect(src1,keypoints);
    detector->detect(src2,keypoints2);
    Mat img_with_keypoints;
    drawKeypoints(src1,keypoints,img_with_keypoints,Scalar(127,127,127),DrawMatchesFlags::DRAW_RICH_KEYPOINTS);
    drawKeypoints(src2,keypoints2,img_with_keypoints,Scalar(127,127,127),DrawMatchesFlags::DRAW_RICH_KEYPOINTS);

    imshow("src2",src2);
    waitKey(0);
    imshow("src1",src1);
    waitKey(0);

    std::vector<cv::Point2f> points_met_1,points_met_2;
    for(int size_t =0 ;  size_t < keypoints.size(); size_t++){
        points_met_1.push_back(keypoints[size_t].pt);
//        cout << keypoints[size_t].pt << endl;
    }
//    cout << "two " << endl;
    for(int size_t =0 ;  size_t < keypoints2.size(); size_t++){
        points_met_2.push_back(keypoints2[size_t].pt);
//        cout << keypoints2[size_t].pt << endl;
    }
    Mat H = findHomography(points_met_2, points_met_1);
    cout <<"H \n" <<H << endl;

结果为：
Mat H
[0.5464480874316925, -0.3670309653916205, 345.2459016393443;
-7.994668935205377e-16, 0.4389799635701279, 137.0491803278688;
-2.113965539556473e-18, -0.0005009107468123854, 1]

src1

src2