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There is a full stitching pipeline in OpenCV.
You can also have a look at the feature2d tutorials to implement a custom stitching approach (with a look at the stereoCalibration sample to have a clue). You should prefer the stitching pipeline, or a least have a look at it, to be sure you understand how it works before jumping on implementing your own. Googling the stitching methods could also be interesting.
