基于Harris角点的图像配准拼接得到室内三维全景图matlab仿真

function [ img_b,old_centre ] = image_blending( img1,img2,H ) [ img_b ,old_centre] = image_widen( img1,img2,H ); siz=size(img_b); siz_origin=size(img1); %[x_b,y_b]=meshgrid(1:siz(1),1:siz(2)); [y_b,x_b]=meshgrid(1:siz(1),1:siz(2)); x_b=x_b(:);y_b=y_b(:); T_1tob=ones(3,siz(1)*siz(2)); T_1tob(1,:)=x_b(:)-old_centre(2); T_1tob(2,:)=y_b(:)-old_centre(1); T_1tob=inv(H)*T_1tob; T_1tob(1,:)=round(T_1tob(1,:)./T_1tob(3,:)); T_1tob(2,:)=round(T_1tob(2,:)./T_1tob(3,:)); for q=1:siz(1)*siz(2) if(T_1tob(1,q)<1||T_1tob(1,q)>siz_origin(2)||T_1tob(2,q)<1||T_1tob(2,q)>siz_origin(1)) continue; end if(img_b(y_b(q),x_b(q),1)~=0) continue; end for k=1:3 img_b(y_b(q),x_b(q),k)=img1(T_1tob(2,q),T_1tob(1,q),k); %disp(img1(T_1tob(1,q),T_1tob(2,q),k)); end end function [ img_b,old_centre ] = image_widen( img1,img2,H ) % determine the size of combined image img_b=img2; siz1=size(img1);siz2=size(img2); w1=siz1(2);h1=siz1(1);w2=siz2(2);h2=siz2(1); corner_r=[H*[1,1,1]',H*[w1,1,1]',H*[1,h1,1]',H*[w1,h1,1]']'; for i=1:4 corner_r(i,1:2)=corner_r(i,1:2)/corner_r(i,3); end % corner_r=sortrows(corner_r,1); temp=corner_r(1,:); y_min=temp(1);% x min temp=corner_r(4,:); y_max=temp(1);% x max corner_r=sortrows(corner_r,2); temp=corner_r(1,:); x_min=temp(2);% y min temp=corner_r(4,:); x_max=temp(2);% y max old_centre=ones(2,1); if x_min<=0 img_b = padarray(img_b, [ceil(-x_min+10), 0], 'pre'); old_centre(1)=round(-x_min+10); end if x_max>h2 img_b = padarray(img_b, [ceil(x_max-h2+10), 0], 'post'); end if y_min<=0 img_b = padarray(img_b, [0,ceil(-y_min+10)], 'pre'); old_centre(2)=round(-y_min+10); end if y_max>w2 img_b = padarray(img_b, [0,ceil(y_max-w2+10)], 'post'); end end end function [newH, newW, x1, y1, x2, y2] = getNewSize(transform, h2, w2, h1, w1) [X,Y] = meshgrid(1:w2,1:h2); AA = ones(3,h2*w2); AA(1,:) = reshape(X,1,h2*w2); AA(2,:) = reshape(Y,1,h2*w2); % DETERMINE THE FOUR CORNER OF NEW IMAGE newAA = transform\AA; new_left = fix(min([1,min(newAA(1,:)./newAA(3,:))])); new_right = fix(max([w1,max(newAA(1,:)./newAA(3,:))])); new_top = fix(min([1,min(newAA(2,:)./newAA(3,:))])); new_bottom = fix(max([h1,max(newAA(2,:)./newAA(3,:))])); newH = new_bottom - new_top + 1; newW = new_right - new_left + 1; x1 = new_left; y1 = new_top; x2 = 2 - new_left; y2 = 2 - new_top; end