opencv 对齐两幅图片

https://learnopencv.com/feature-based-image-alignment-using-opencv-c-python/

def alignImages(im1, im2):

  # Convert images to grayscale
  im1Gray = cv2.cvtColor(im1, cv2.COLOR_BGR2GRAY)
  im2Gray = cv2.cvtColor(im2, cv2.COLOR_BGR2GRAY)
  
  # Detect ORB features and compute descriptors.
  orb = cv2.ORB_create(MAX_MATCHES)
  keypoints1, descriptors1 = orb.detectAndCompute(im1Gray, None)
  keypoints2, descriptors2 = orb.detectAndCompute(im2Gray, None)
  
  # Match features.
  matcher = cv2.DescriptorMatcher_create(cv2.DESCRIPTOR_MATCHER_BRUTEFORCE_HAMMING)
  matches = matcher.match(descriptors1, descriptors2, None)
  
  # Sort matches by score
  matches.sort(key=lambda x: x.distance, reverse=False)

  # Remove not so good matches
  numGoodMatches = int(len(matches) * GOOD_MATCH_PERCENT)
  matches = matches[:numGoodMatches]

  # Draw top matches
  imMatches = cv2.drawMatches(im1, keypoints1, im2, keypoints2, matches, None)
  cv2.imwrite("matches.jpg", imMatches)
  
  # Extract location of good matches
  points1 = np.zeros((len(matches), 2), dtype=np.float32)
  points2 = np.zeros((len(matches), 2), dtype=np.float32)

  for i, match in enumerate(matches):
    points1[i, :] = keypoints1[match.queryIdx].pt
    points2[i, :] = keypoints2[match.trainIdx].pt
  
  # Find homography
  h, mask = cv2.findHomography(points1, points2, cv2.RANSAC)

  # Use homography
  height, width, channels = im2.shape
  im1Reg = cv2.warpPerspective(im1, h, (width, height))
  
  return im1Reg, h

As mentioned earlier, a homography is nothing but a $3\times 3$ matrix as shown below.
$$H=\left[\begin{array}{lll}{h}_{00}& h_{01}& h_{02}\\ h_{10}& h_{11}& h_{12}\\ h_{20}& h_{21}& h_{22}\end{array}\right]$$
Let $\left(x_1,y_1\right)$ be a point in the first image and $\left(x_2,y_2\right)$ be the coordinates of the same physical point in the second image. Then, the Homography $H$ relates them in the following way
$$\left[\begin{array}{c}{x}_1\\ y_1\\ 1\end{array}\right]=H\left[\begin{array}{c}{x}_2\\ y_2\\ 1\end{array}\right]=\left[\begin{array}{lll}{h}_{00}& h_{01}& h_{02}\\ h_{10}& h_{11}& h_{12}\\ h_{20}& h_{21}& h_{22}\end{array}\right]\left[\begin{array}{c}{x}_2\\ y_2\\ 1\end{array}\right]$$
If we knew the homography, we could apply it to all the pixels of one image to obtain a warped image that is aligned with the second image.