特征点匹配 opencv系列函数解析 追踪相关(一)

首先是一些一个光流算法实现，关键函数是

goodFeaturesToTrack 能检测出角点，算法是Harris角点和shi-tomasi角点 点击有详细的算法介绍，大概就是计算一个窗口在各个方向上的变化程度，有变化则说明是角点

#include <iostream>    
#include <vector>
#include <cstdio>
#include <opencv2/opencv.hpp>  
#include <opencv2/xfeatures2d.hpp>
  
using namespace cv;  
using namespace std;  
using namespace cv::xfeatures2d;

void OpticalFlow(Mat &frame, Mat & result);  
bool addNewPoints();  
bool acceptTrackedPoint(int i);  
  
  
Mat curgray;    // 当前图片  
Mat pregray;    // 预测图片  
vector<Point2f> point[2]; // point0为特征点的原来位置，point1为特征点的新位置  
vector<Point2f> initPoint;    // 初始化跟踪点的位置  
vector<Point2f> features; // 检测的特征  
int maxCount = 300;         // 检测的最大特征数  
double qLevel = 0.1;   // 特征检测的等级  
double minDist = 20.0;  // 两特征点之间的最小距离  
vector<uchar> status; // 跟踪特征的状态，特征的流发现为1，否则为0  
vector<float> err;  
  

//g++ pyrLK.cpp -o pyrLK `pkg-config --cflags --libs opencv`
int main()  
{  
    
    Mat matSrc;  
    Mat matRst;  
  
    VideoCapture cap("/home/caixing/Videos/car2.mov");
    //cap.open(0);   
    int totalFrameNumber = cap.get(CV_CAP_PROP_FRAME_COUNT);  
  
    // perform the tracking process  
    printf("Start the tracking process, press ESC to quit.\n");  
    for (int nFrmNum = 0; nFrmNum < totalFrameNumber; nFrmNum++) {  
    // while(1){ 
        // get frame from the video  
        double t = (double)cvGetTickCount();  
        cap >> matSrc;  
        if (!matSrc.empty())  
        {  
            OpticalFlow(matSrc, matRst);  
            //cout << "This picture is " << nFrmNum << endl;  
        }  
        else  
        {  
            cout << "Error : Get picture is empty!" << endl;  
        }  
        t = (double)cvGetTickCount() - t;  
        //cout << "cost time: " << t / ((double)cvGetTickFrequency()*1000.) << endl;  
        waitKey(0);
        //if (waitKey(1) == 27) break;  
    }  
  
  
  
    return 0;  
  
}  

bool addNewPoints()  
{  
    return point[0].size() <= 30;  
}  
  
void OpticalFlow(Mat &frame, Mat & result)  
{  
    cvtColor(frame, curgray, CV_BGR2GRAY);  
    frame.copyTo(result);  
  
    if (addNewPoints())  
    // if (1)
    {  
        goodFeaturesToTrack(curgray, features, maxCount, qLevel, minDist);  
        // point[0]=features;
        // initPoint=features;
        point[0].insert(point[0].end(), features.begin(), features.end());  
        initPoint.insert(initPoint.end(), features.begin(), features.end());  
    }  
  
  
    if (pregray.empty())  
    {  
        curgray.copyTo(pregray);  
    }  
  
    calcOpticalFlowPyrLK(pregray, curgray, point[0], point[1], status, err,Size(7,7));  
  

    //cout<<point[0].size()<<" "<<point[1].size()<<" "<<status.size()<<" "<<err.size()<<endl;
    int k = 0;  
    for (size_t i = 0; i<point[1].size(); i++)  
    {  
        if (acceptTrackedPoint(i))  
        {  
            initPoint[k] = initPoint[i];  
            point[1][k++] = point[1][i];  
        }  
    }  
  
  
    point[1].resize(k);  
    initPoint.resize(k);  
  
    for (size_t i = 0; i<point[1].size(); i++)  
    {  
        line(result, initPoint[i], point[1][i], Scalar(0, 0, 255));  
        circle(result, point[1][i], 3, Scalar(0, 255, 0), -1);  
    }  
  
  
    swap(point[1], point[0]);  
    swap(pregray, curgray);  
  
  
    imshow("Optical Flow Demo", result); 
    //waitKey(50);  
}  
  
  
bool acceptTrackedPoint(int i)  
{  
    return status[i] && ((abs(point[0][i].x - point[1][i].x) + abs(point[0][i].y - point[1][i].y)) > 2);  
}  

在opencv的sample里面，还有两张图片的特征点进行匹配的代码样例，opencv-3.2.0/samples/cpp/matchmetod_orb_akaze_brisk.cpp 对比了好几种特征点检测的算法，然后匹配结果，主要接口如下

Ptr<Feature2D> b;
if (*itDesc == "AKAZE-DESCRIPTOR_KAZE_UPRIGHT"){
            b = AKAZE::create(AKAZE::DESCRIPTOR_KAZE_UPRIGHT);
            }
        if (*itDesc == "AKAZE"){
            b = AKAZE::create();
            }
        if (*itDesc == "ORB"){
            b = ORB::create();
        }
        else if (*itDesc == "BRISK"){
            b = BRISK::create();
        }
        try
        {
            // We can detect keypoint with detect method
            b->detect(img1, keyImg1, Mat());
            // and compute their descriptors with method  compute
            b->compute(img1, keyImg1, descImg1);
            // or detect and compute descriptors in one step
            b->detectAndCompute(img2, Mat(),keyImg2, descImg2,false);

detect就是只检测特征点，不计算该特征点的特征向量,compute就是计算特征向量，