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;
}