C++运用opencv进行二维多张全景图拼接

#include “highgui/highgui.hpp“    
#include “opencv2/nonfree/nonfree.hpp“    
#include “opencv2/legacy/legacy.hpp“   

using namespace cv;

//计算原始图像点位在经过矩阵变换后在目标图像上对应位置  
Point2f getTransformPoint（const Point2f originalPoint const Mat &transformMaxtri）;

int main（int argc char *argv[]）
{
	Mat image01 = imread（“img1.jpg“）;
	Mat image02 = imread（“img2.jpg“）;
	imshow（“拼接图像1“ image01）;
	imshow（“拼接图像2“ image02）;

	//灰度图转换  
	Mat image1 image2;
	cvtColor（image01 image1 CV_RGB2GRAY）;
	cvtColor（image02 image2 CV_RGB2GRAY）;

	//提取特征点    
	SiftFeatureDetector siftDetector（800）;  // 海塞矩阵阈值  
	vector keyPoint1 keyPoint2;
	siftDetector.detect（image1 keyPoint1）;
	siftDetector.detect（image2 keyPoint2）;

	//特征点描述，为下边的特征点匹配做准备    
	SiftDescriptorExtractor siftDescriptor;
	Mat imageDesc1 imageDesc2;
	siftDescriptor.compute（image1 keyPoint1 imageDesc1）;
	siftDescriptor.compute（image2 keyPoint2 imageDesc2）;

	//获得匹配特征点，并提取最优配对     
	FlannbasedMatcher matcher;
	vector matchePoints;
	matcher.match（imageDesc1 imageDesc2 matchePoints Mat（））;
	sort（matchePoints.begin（） matchePoints.end（））; //特征点排序    
	//获取排在前N个的最优匹配特征点  
	vector imagePoints1 imagePoints2;
	for （int i = 0; i < 10; i++）
	{
		imagePoints1.push_back（keyPoint1[matchePoints[i].queryIdx].pt）;
		imagePoints2.push_back（keyPoint2[matchePoints[i].trainIdx].pt）;
	}

	//获取图像1到图像2的投影映射矩阵，尺寸为3*3  
	Mat homo = findHomography（imagePoints1 imagePoints2 CV_RANSAC）;
	Mat adjustMat = （Mat_（3 3） << 1.0 0 image01.cols 0 1.0 0 0 0 1.0）;
	Mat adjustHomo = adjustMat*homo;

	//获取最强配对点在原始图像和矩阵变换后图像上的对应位置，用于图像拼接点的定位  
	Point2f originallinkPoint targetlinkPoint basedImagePoint;
	originallinkPoint = keyPoint1[matchePoints[0].queryIdx].pt;
	targetlinkPoint = getTransformPoint（originallinkPoint adjustHomo）;
	basedImagePoint = keyPoint2[matchePoints[0].trainIdx].pt;

	//图像配准  
	Mat imageTransform1;
	warpPerspective（image01 imageTransform1 adjustMat*homo Size（image02.cols + image01.cols + 10 image02.rows））;

	//在最强匹配点的位置处衔接，最强匹配点左侧是图1，右侧是图2，这样直接替换图像衔接不好，光线有突变  
	Mat ROIMat = image02（Rect（Point（basedImagePoint.x 0） Point（image02.cols image02.rows）））;
	ROIMat.copyTo（Mat（imageTransform1 Rect（targetlinkPoint.x 0 image02.cols - basedImagePoint.x + 1 image02.rows）））;

	namedWindow（“拼接结果“ 0）;
	imshow（“拼接结果“ imageTransform1）;
	imwrite（“result1.jpg“ imageTransform1）;
	waitKey（）;
	return 0;
}

//计算原始图像点位在经过矩阵变换后在目标图像上对应位置  
Point2f getTransformPoint（const Point2f originalPoint const Mat &transformMaxtri）
{
	Mat originelP targetP;
	originelP = （Mat_（3 1） << originalPoint.x originalPoint.y 1.0）;
	targetP = transformMaxtri*originelP;
	float x = targetP.at（0 0） / targetP.at（2 0）;
	float y = targetP.at（1 0） / targetP.at（2 0）;
	return Point2f（x y）;
}

 属性            大小     日期    时间   名称
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     文件     113664  2018-01-15 11:28  imageStitchingDebugimageStitching.exe

     文件     759616  2018-01-15 11:28  imageStitchingDebugimageStitching.ilk

     文件    2248704  2018-01-15 11:28  imageStitchingDebugimageStitching.pdb

     文件     507274  2012-05-21 16:54  imageStitchingDebugimg1.jpg

     文件     500875  2012-05-21 16:54  imageStitchingDebugimg2.jpg

     文件     497205  2012-05-21 16:54  imageStitchingDebugimg3.jpg

     文件    2467340  2018-01-15 11:36  imageStitchingDebug
esult.jpg

     文件     317368  2012-04-25 04:25  imageStitchingDebug bb_debug.dll

     文件       4508  2016-10-23 20:58  imageStitchingimageStitchingDebugBuildLog.htm

     文件       1074  2018-01-15 11:12  imageStitchingimageStitchingDebugimageStitching.Build.CppClean.log

     文件         45  2016-11-08 10:58  imageStitchingimageStitchingDebugimageStitching.lastbuildstate

     文件       7554  2018-01-15 11:28  imageStitchingimageStitchingDebugimageStitching.log

     文件       1390  2018-01-15 11:28  imageStitchingimageStitchingDebugimageStitching.tlogcl.command.1.tlog

     文件      38284  2018-01-15 11:28  imageStitchingimageStitchingDebugimageStitching.tlogCL.read.1.tlog

     文件        766  2018-01-15 11:28  imageStitchingimageStitchingDebugimageStitching.tlogCL.write.1.tlog

     文件        161  2018-01-15 11:28  imageStitchingimageStitchingDebugimageStitching.tlogimageStitching.lastbuildstate

     文件      13280  2018-01-15 11:28  imageStitchingimageStitchingDebugimageStitching.tloglink.command.1.tlog

     文件      35242  2018-01-15 11:28  imageStitchingimageStitchingDebugimageStitching.tloglink.read.1.tlog

     文件        408  2018-01-15 11:28  imageStitchingimageStitchingDebugimageStitching.tloglink.write.1.tlog

     文件          0  2016-11-08 10:58  imageStitchingimageStitchingDebugimageStitching.unsuccessfulbuild

     文件         67  2012-05-21 16:58  imageStitchingimageStitchingDebugmt.dep

     文件    2457971  2012-05-21 17:10  imageStitchingimageStitchingDebug
esult.jpg

     文件     445806  2018-01-15 11:28  imageStitchingimageStitchingDebugstitching.obj

     文件     560128  2018-01-15 11:28  imageStitchingimageStitchingDebugvc120.idb

     文件    1265664  2018-01-15 11:28  imageStitchingimageStitchingDebugvc120.pdb

     文件       3757  2012-05-21 16:58  imageStitchingimageStitchingimageStitching.vcproj

     文件       1421  2016-10-23 20:58  imageStitchingimageStitchingimageStitching.vcproj.GuoDafeng-PC.Guo Dafeng.user

     文件       1441  2012-05-22 16:58  imageStitchingimageStitchingimageStitching.vcproj.HP98402794308.Administrator.user

     文件       4962  2018-01-15 11:16  imageStitchingimageStitchingimageStitching.vcxproj

     文件        934  2018-01-15 11:16  imageStitchingimageStitchingimageStitching.vcxproj.filters

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