Surf特征匹配点提纯

本文将介绍Surf特征匹配得到的特征匹配点提纯方法

      surf匹配代码：

cv::Ptr<Feature2D> p_ex1 = xfeatures2d::SURF::create();//生成对应描述符
			p_ex1->detect(thisFHalf_1, thisFrameKeypoints);
			p_ex1->detect(nextFHalf_2, nextFrameKeypoints);

			p_ex1->compute(thisFHalf_1, thisFrameKeypoints, thisFrameDescriptor);
			p_ex1->compute(nextFHalf_2, nextFrameKeypoints, nextFrameDescriptor);

std::vector< cv::DMatch > matches_1;
			//std::vector< cv::DMatch > matches_2;
			std::vector<cv::DMatch> good_matches;
			std::vector<cv::DMatch> good_matches2;
			BFMatcher matcher;
			//FlannBasedMatcher matcher;
			//matcher.knnMatch()
			matcher.match(thisFrameDescriptor, nextFrameDescriptor, matches_1);

获得匹配点对matches_1,但是surf获得的匹配点对中存在相当多的误匹配，如何剔除误匹配，提取精度较高的匹配点对。

（一）通过距离判断来提纯，这也是常用的方法      

//消除错配点
			double min_dist = 100;
			double max_dist = 0;
			for (int i = 0; i < matches_1.size(); i++)
			{
				double dist = matches_1[i].distance;
				if (dist < min_dist)
				{
					min_dist = dist;
				}
				if (dist > max_dist)
				{
					max_dist = dist;
				}
			}
			//std::vector<cv::DMatch> good_matches;

			for (int i = 0; i < matches_1.size(); i++)
			{
				if (matches_1[i].distance < (3 * min_dist))
				{
					good_matches.push_back(matches_1[i]);
					//surfgoodnum++;
				}
			}

通常设置3*min_dist，距离越小精度也高，但数量也少。

（二）正反匹配提纯

cv::Mat img_match;
int num = 0;
for (int a = 0; a < matches_1.size(); a++)
{
	for (int b = 0; b < matches_2.size();b++)
	{
            if (thisFrameKeypoints[matches_1[a].queryIdx].pt == thisFrameKeypoints[matches_2[b].trainIdx].pt && nextFrameKeypoints[matches_1[a].trainIdx].pt == nextFrameKeypoints[matches_2[b].queryIdx].pt)
	    {
		if (fabs(thisFrameKeypoints[matches_1[a].queryIdx].pt.x - thisFrameKeypoints[matches_1[a].trainIdx].pt.x)<20 && fabs(thisFrameKeypoints[matches_1[a].queryIdx].pt.y - thisFrameKeypoints[matches_1[a].trainIdx].pt.y)<20)
		{
			good_matches.push_back(matches_1[a]);
		}
						
	 }
     }
}

如果前后都能匹配则认为该点对为匹配点对。（效果不佳，只能去除部分）

（三）单应消除错误匹配点

//单应去除匹配错点
<span style="white-space:pre">	</span>std::vector<cv::Point2f> srcPoints_1, dstPoints_1;
<span style="white-space:pre">	</span>for (std::vector< cv::DMatch >::iterator it = matches_1.begin(); it != matches_1.end(); it++)
<span style="white-space:pre">	</span>{
<span style="white-space:pre">	</span>    srcPoints_1.push_back(thisFrameKeypoints[it->queryIdx].pt);//ThisFrame
<span style="white-space:pre">	</span>    dstPoints_1.push_back(nextFrameKeypoints[it->trainIdx].pt);//NextFrame
<span style="white-space:pre">	</span>}
<span style="white-space:pre">	</span>cv::Mat H_1;
<span style="white-space:pre">	</span>float reprojectionThreshold = 0.1;

        std::vector<cv::DMatch> inliers;
<span style="white-space:pre">	</span>std::vector<unsigned char> inliersMask(srcPoints_1.size());
<span style="white-space:pre">	</span>H_1 = findHomography(
<span style="white-space:pre">	</span>      srcPoints_1, dstPoints_1,
<span style="white-space:pre">	</span>      CV_FM_RANSAC, reprojectionThreshold,
<span style="white-space:pre">	</span>      inliersMask);
<span style="white-space:pre">	</span>      for (size_t i = 0; i < inliersMask.size(); i++)
<span style="white-space:pre">		</span>{
<span style="white-space:pre">		</span>   if (inliersMask[i])
<span style="white-space:pre">			</span>inliers.push_back(matches_1[i]);
<span style="white-space:pre">	</span>         }
<span style="white-space:pre">		</span>matches_1.swap(inliers);
<span style="white-space:pre">		</span>std::cout << matches_1.size() << std::endl;

匹配点对根据RANSAC计算单应矩阵，再根据单应矩阵提纯。