OpenCV - Image Stitching

I am using following code to stitch to input images. For an unknown reason the output result is crap! It seems that the homography matrix is wrong (or is affected wrongly) because the transformed image is like an "exploited star"! I have commented the part that I guess is the source of the problem but I cannot realize it. Any help or point is appriciated!

Have a nice day, Ali

void Stitch2Image(IplImage *mImage1, IplImage *mImage2) 
{ 

    // Convert input images to gray 
    IplImage* gray1 = cvCreateImage(cvSize(mImage1->width, mImage1->height), 8, 1); 

    cvCvtColor(mImage1, gray1, CV_BGR2GRAY); 
    IplImage* gray2 = cvCreateImage(cvSize(mImage2->width, mImage2->height), 8, 1); 

    cvCvtColor(mImage2, gray2, CV_BGR2GRAY); 
    // Convert gray images to Mat 
    Mat img1(gray1); 
    Mat img2(gray2); 
    // Detect FAST keypoints and BRIEF features in the first image 
    FastFeatureDetector detector(50); 
    BriefDescriptorExtractor descriptorExtractor; 
    BruteForceMatcher<L1<uchar> > descriptorMatcher; 
    vector<KeyPoint> keypoints1; 
    detector.detect( img1, keypoints1 ); 
    Mat descriptors1; 
    descriptorExtractor.compute( img1, keypoints1, descriptors1 );

/* Detect FAST keypoints and BRIEF features in the second image*/


    vector<KeyPoint> keypoints2; 
    detector.detect( img1, keypoints2 ); 
    Mat descriptors2; 
    descriptorExtractor.compute( img2, keypoints2, descriptors2 ); 
    vector<DMatch> matches; 
    descriptorMatcher.match(descriptors1, descriptors2, matches); 
    if (matches.size()==0) 
            return; 
    vector<Point2f> points1, points2; 
    for(size_t q = 0; q < matches.size(); q++) 
    { 
            points1.push_back(keypoints1[matches[q].queryIdx].pt); 
            points2.push_back(keypoints2[matches[q].trainIdx].pt); 
    } 
    // Create the result image 
    result = cvCreateImage(cvSize(mImage2->width * 2, mImage2->height), 8, 3); 
    cvZero(result); 

   // Copy the second image in the result image 

    cvSetImageROI(result, cvRect(mImage2->width, 0, mImage2->width, mImage2->height)); 
    cvCopy(mImage2, result); 
    cvResetImageROI(result); 

  // Create warp image 
    IplImage* warpImage = cvCloneImage(result); 
    cvZero(warpImage); 

  /************************** Is there anything wrong here!? *******************/ 
   // Find homography matrix 
    Mat H = findHomography(Mat(points1), Mat(points2), 8, 3.0); 
    CvMat HH = H; // Is this line converted correctly? 
   // Transform warp image 
    cvWarpPerspective(mImage1, warpImage, &HH); 
  // Blend 
    blend(result, warpImage);
  /*******************************************************************************/ 

    cvReleaseImage(&gray1); 
    cvReleaseImage(&gray2); 
    cvReleaseImage(&warpImage); 
}
8
задан om-nom-nom 26 October 2011 в 17:45
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