How do I stitch images with two different angles?

C++
1

left-4
left-41080×1440 139 KB

I have two images as shown above taken from two cameras. How do I stitch these two images together?
I have already tried to use stitch fucntion in opencv, but it can`t work correctly,meanwhile I searched many code about this question,none of it is useful,Is it impossible to solve this problem?

can I use Homography to detect the angle of image?
here is some matrices

rotate 
[[-3.97172305e-03  1.00056894e+00  3.46248616e+02]
 [-1.00148205e+00  3.86723139e-04  5.52950036e+02]
 [-6.76659141e-06  2.59126405e-06  1.00000000e+00]]

no rotate and  no scale 

[[1.00280729e+00 1.05580875e-03 3.45778070e+02]
 [4.85699357e-04 1.00302391e+00 3.19346158e+01]
 [3.37627987e-06 1.84587364e-06 1.00000000e+00]]

 rotate a little 

[[ 8.58991949e-01 -2.28707257e-01  5.99451739e+02]
 [ 1.68801416e-01  9.90307162e-01 -1.35877403e+02]
 [-1.25664777e-04  4.38606347e-05  1.00000000e+00]]
2

right-4-2
right-4-21080×1440 165 KB

this is another image

3

Show us your code
Tutorial about stitching is here

4 
    Mat img1 = imread("left-4.jpg");
    Mat img2 = imread("right-4-2.jpg");
    if (img1.empty() || img2.empty())
    {
        cout << "Can't read image" << endl;
        return -1;
    }
    imgs.push_back(img1);
    imgs.push_back(img2);
    time_t seconds1;
    seconds1 = time(NULL);


    Ptr<Stitcher> stitcher = Stitcher::create(Stitcher::PANORAMA);
    stitcher->setFeaturesMatcher(makePtr<detail::BestOf2NearestMatcher>(false, 0.3f));
    Mat pano;
    try
    {
        Stitcher::Status status = stitcher->stitch(imgs, pano);
        if (status != Stitcher::OK)
        {
            cout << "Can't stitch images, error code = " << int(status) << endl;
            return -1;
        }
    }
   catch (const std::exception& ex)
    {
      cout << "Can't stitch images, error code = "  << ex.what()<< endl;
    }
5 
Mat img1 = imread("left-4.jpg");
    Mat img2 = imread("right-4-2.jpg");
    if (img1.empty() || img2.empty())
    {
        cout << "Can't read image" << endl;
        return -1;
    }
    imgs.push_back(img1);
    imgs.push_back(img2);
    time_t seconds1;
    seconds1 = time(NULL);


    Ptr<Stitcher> stitcher = Stitcher::create(Stitcher::PANORAMA);
    stitcher->setFeaturesMatcher(makePtr<detail::BestOf2NearestMatcher>(false, 0.3f));
    Mat pano;
    try
    {
        Stitcher::Status status = stitcher->stitch(imgs, pano);
        if (status != Stitcher::OK)
        {
            cout << "Can't stitch images, error code = " << int(status) << endl;
            return -1;
        }
    }
   catch (const std::exception& ex)
    {
      cout << "Can't stitch images, error code = "  << ex.what()<< endl;
    }
6

You can use stitching_detailed.py code given in tutorial High level stitching API Stitcher class

7

I have tried to use --d3 argument,but still get bad picture.