I want to stitch 2 mages using OpenCV 3.0 (with contrib) and Python 2.7.

I have written a program to do this but the result is so bad. I'm using SIFT features to do this. I have displayed the found features and I think they are very good, the problem is the homography. The transformation applied to the images is totally wrong and I don't know why.

Here are the two images that I want to stitch

Here the keypoints

And here the results after applying the homography (and its inverse)

What I have tested

Here my program, 90% is copied from this post: http://stackoverflow.com/questions/65... I have added two methods explained below.

PATH = "PATH_TO_IMAGES"
SHOW_MATCHES = False

# Load the two images
img1 = cv2.imread(PATH + "image1.jpg", -1)
img2 = cv2.imread(PATH + "image2.jpg", -1)

# Transform to RGB
cv2.cvtColor(img1, cv2.COLOR_BGR2RGB, img1)
cv2.cvtColor(img2, cv2.COLOR_BGR2RGB, img2)

# Get their dimensions
height, width = img1.shape[:2]

# Resize them (they are too big)
img1 = cv2.resize(img1, (width / 4, height / 4))
img2 = cv2.resize(img2, (width / 4, height / 4))

# Get the resized image's dimensions
height, width = img1.shape[:2]


# Initiate SIFT detector
sift = X2D.SIFT_create()

# find the keypoints and descriptors with SIFT
kp1, des1 = sift.detectAndCompute(img1,None)
kp2, des2 = sift.detectAndCompute(img2,None)

# BFMatcher with default params
bf = cv2.BFMatcher()

# Note: 'k=2' -> for each keypoint, there can be
# 2 or less matches.
matches = bf.knnMatch(des1,des2, k=2)

###### Here the filter that I have added:
# Filter the matches to remove the wrong ones. This filter 
# removes all pairs of keypoints whose y-coordinate difference
# is lower than the image's height * 0.1.
# The method is implementated below.
matches = filterMatches(kp1, kp2, matches, height, 0.1)


# Apply ratio test
good = []
for m,n in matches:
    if m.distance < 0.75*n.distance:
        good.append([m])

# Get the coordinates of the mattching keypoints:
# This method is implemented below.
sP, dP = Tools.pointsFromMatches(kp1, kp2, matches)

# Get the homography and its inverse:
H, mask = cv2.findHomography(sP, dP, cv2.RANSAC)
iH = np.linalg.inv(H)

# Apply the homography to both images:
alignedImg1 = cv2.warpPerspective(img1, H, (width, height), flags = cv2.INTER_LINEAR + cv2.BORDER_CONSTANT)
alignedImg2ToImg1 = cv2.warpPerspective(img2, iH, (width, height), flags = cv2.INTER_LINEAR + cv2.BORDER_CONSTANT)

# Show the results:
plt.imshow(alignedImg1), plt.show()
plt.imshow(alignedImg2ToImg1), plt.show()

The implementation of my methods

def filterMatches(kp1, kp2, matches, imgHeight, thresFactor = 0.4):
    """
    Removes the matches that correspond to a pair of keypoints (kp1, kp2)
    which y-coordinate difference is lower than imgHeight * thresFactor.

    Args:
        kp1 (array of cv2.KeyPoint): Key Points.

        kp2 (array of cv2.KeyPoint): Key Points.

        matches (array of cv2.DMatch): Matches between kp1 and kp2.

        imgHeight (Integer): height of the image that has produced kp1 or kp2.

        thresFactor (Float): Use to calculate the threshold. Threshold is 
            imgHeight * thresFactor.

    Returns:
        array of cv2.DMATCH: filtered matches.

    """
    filteredMatches = [None]*len(matches)
    counter = 0
    threshold = imgHeight * thresFactor
    for i in range(len ...