OpenCv实现两幅图像的拼接

#include <iostream>

#include <iomanip>

#include "opencv2/core/core.hpp"

#include "opencv2/objdetect/objdetect.hpp"

#include "opencv2/features2d/features2d.hpp"

#include "opencv2/highgui/highgui.hpp"

#include "opencv2/calib3d/calib3d.hpp"

#include "opencv2/nonfree/nonfree.hpp"

#include "opencv2/imgproc/imgproc_c.h"

#include "opencv2/legacy/legacy.hpp"

#include "opencv2/legacy/compat.hpp"

 

using namespace cv;

using namespace std;

 

int main()

{

    Mat leftImg=imread("left.jpg");

    Mat rightImg=imread("right.jpg");

    if(leftImg.data==NULL||rightImg.data==NULL)

        return 0;

 

    //转化成灰度图

    Mat leftGray;

    Mat rightGray;

    cvtColor(leftImg,leftGray,CV_BGR2GRAY);

    cvtColor(rightImg,rightGray,CV_BGR2GRAY);

 

    //获取两幅图像的共同特征点

    int minHessian=400;

    SurfFeatureDetector detector(minHessian);

    vector<KeyPoint> leftKeyPoints,rightKeyPoints;

    detector.detect(leftGray,leftKeyPoints);

    detector.detect(rightGray,rightKeyPoints);

    SurfDescriptorExtractor extractor;

    Mat leftDescriptor,rightDescriptor;

    extractor.compute(leftGray,leftKeyPoints,leftDescriptor);

    extractor.compute(rightGray,rightKeyPoints,rightDescriptor);

    FlannBasedMatcher matcher;

    vector<DMatch> matches;

    matcher.match(leftDescriptor,rightDescriptor,matches);    

    int matchCount=leftDescriptor.rows;

    if(matchCount>15)

    {

        matchCount=15;

        //sort(matches.begin(),matches.begin()+leftDescriptor.rows,DistanceLessThan);

        sort(matches.begin(),matches.begin()+leftDescriptor.rows);

    }    

    vector<Point2f> leftPoints;

    vector<Point2f> rightPoints;

    for(int i=0; i<matchCount; i++)

    {

        leftPoints.push_back(leftKeyPoints[matches[i].queryIdx].pt);

        rightPoints.push_back(rightKeyPoints[matches[i].trainIdx].pt);

    }

 

    //获取左边图像到右边图像的投影映射关系

    Mat homo=findHomography(leftPoints,rightPoints);

    Mat shftMat=(Mat_<double>(3,3)<<1.0,0,leftImg.cols, 0,1.0,0, 0,0,1.0);

 

    //拼接图像

    Mat tiledImg;

    warpPerspective(leftImg,tiledImg,shftMat*homo,Size(leftImg.cols+rightImg.cols,rightImg.rows));

    rightImg.copyTo(Mat(tiledImg,Rect(leftImg.cols,0,rightImg.cols,rightImg.rows)));

 

    //保存图像

    imwrite("tiled.jpg",tiledImg);

        

    //显示拼接的图像

    imshow("tiled image",tiledImg);

    waitKey(0);

    return 0;

}