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}
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Homography estimation
为了进一步提升匹配精度,可以采用随机样本一致性(RANSAC)方法。
因为我们是使用一幅图像(一个平面物体),我们可以将它定义为刚性的,可以在pattern image和query image的特征点之间找到单应性变换(homography transformation
)。使用cv::findHomography找到这个单应性变换,使用RANSAC找到最佳单应性矩阵。(由于这个函数使用的特征点同时包含正确和错误匹配点,因此计算的单应性矩阵依赖于二次投影的准确性)
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- bool PatternDetector::refineMatchesWithHomography
- (
- const std::vectorcv::KeyPoint& queryKeypoints,
- const std::vectorcv::KeyPoint& trainKeypoints,
- float reprojectionThreshold,
- std::vectorcv::DMatch& matches,
- cv::Mat& homography
- )
- {
- const int minNumberMatchesAllowed = 8;
- if (matches.size() < minNumberMatchesAllowed)
- return false;
- // Prepare data for cv::findHomography
- std::vectorcv::Point2f srcPoints(matches.size());
- std::vectorcv::Point2f dstPoints(matches.size());
- for (size_t i = 0; i < matches.size(); i++)
- {
- srcPoints[i] = trainKeypoints[matches[i].trainIdx].pt;
- dstPoints[i] = queryKeypoints[matches[i].queryIdx].pt;
- }
- // Find homography matrix and get inliers mask
- std::vector inliersMask(srcPoints.size());
- homography = cv::findHomography(srcPoints,
- dstPoints,
- CV_FM_RANSAC,
- reprojectionThreshold,
- inliersMask);
- std::vectorcv::DMatch inliers;
- for (size_t i=0; i<inliersMask.size(); i++)
- {
- if (inliersMask[i])
- inliers.push_back(matches[i]);
- }
- matches.swap(inliers); //释放空内存
- return matches.size() > minNumberMatchesAllowed;
- }
经过单应性变换的过滤结果
运用H矩阵进行误匹配点去除:
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[cpp]
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- #include “opencv2/core/core.hpp”
- #include “opencv2/features2d/features2d.hpp”
- #include “opencv2/highgui/highgui.hpp”
- #include “opencv2/calib3d/calib3d.hpp”
- #include “opencv2/nonfree/nonfree.hpp”
- #include
- using namespace cv;
- using namespace std;
- int main( )
- {
- //【0】改变console字体颜色
- system(“color 1F”);
- //【1】载入原始图片
- Mat srcImage1 = imread( “1.jpg”, 1 );
- Mat srcImage2 = imread( “2.jpg”, 1 );
- Mat copysrcImage1=srcImage1.clone();
- Mat copysrcImage2=srcImage2.clone();
- if( !srcImage1.data || !srcImage2.data )
- { printf(“读取图片错误,请确定目录下是否有imread函数指定的图片存在~! \n”); return false; }
- //【2】使用SURF算子检测关键点
- int minHessian = 400;//SURF算法中的hessian阈值
- SurfFeatureDetector detector( minHessian );//定义一个SurfFeatureDetector(SURF) 特征检测类对象
- vector keypoints_object, keypoints_scene;//vector模板类,存放任意类型的动态数组
- //【3】调用detect函数检测出SURF特征关键点,保存在vector容器中
- detector.detect( srcImage1, keypoints_object );
- detector.detect( srcImage2, keypoints_scene );
- //【4】计算描述符(特征向量)
- SurfDescriptorExtractor extractor;
- Mat descriptors_object, descriptors_scene;
- extractor.compute( srcImage1, keypoints_object, descriptors_object );
- extractor.compute( srcImage2, keypoints_scene, descriptors_scene );
- //【5】使用FLANN匹配算子进行匹配
- FlannBasedMatcher matcher;
- vector< DMatch > matches;
- matcher.match( descriptors_object, descriptors_scene, matches );
- double max_dist = 0; double min_dist = 100;//最小距离和最大距离
- //【6】计算出关键点之间距离的最大值和最小值
- for( int i = 0; i < descriptors_object.rows; i++ )
- {
- double dist = matches[i].distance;
- if( dist < min_dist ) min_dist = dist;
- if( dist > max_dist ) max_dist = dist;
- }
- printf(“>Max dist 最大距离 : %f \n”, max_dist );
- printf(“>Min dist 最小距离 : %f \n”, min_dist );
- //【7】存下匹配距离小于3*min_dist的点对
- std::vector< DMatch > good_matches;
- for( int i = 0; i < descriptors_object.rows; i++ )
- {
- if( matches[i].distance < 3*min_dist )
- {
- good_matches.push_back( matches[i]);
- }
- }
- //绘制出匹配到的关键点
- Mat img_matches;
- drawMatches( srcImage1, keypoints_object, srcImage2, keypoints_scene,
- good_matches, img_matches, Scalar::all(-1), Scalar::all(-1),
- vector(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
- //定义两个局部变量
- vector obj;
- vector scene;
- //从匹配成功的匹配对中获取关键点
- for( unsigned int i = 0; i < good_matches.size(); i++ )
- {
- obj.push_back( keypoints_object[ good_matches[i].queryIdx ].pt );
- scene.push_back( keypoints_scene[ good_matches[i].trainIdx ].pt );
- }
- vector listpoints;
- //Mat H = findHomography( obj, scene, CV_RANSAC );//计算透视变换
- Mat H = findHomography( obj, scene, CV_RANSAC,3, listpoints);//计算透视变换
- std::vector< DMatch > goodgood_matches;
- for (int i=0;i<listpoints.size();i++)
- {
- if ((int)listpoints[i])
- {
- goodgood_matches.push_back(good_matches[i]);
- cout<<(int)listpoints[i]<<endl;
- }
- }
- cout<<“listpoints大小:”<<listpoints.size()<<endl;
- cout<<“goodgood_matches大小:”<<goodgood_matches.size()<<endl;
- cout<<“good_matches大小:”<<good_matches.size()<<endl;
- Mat Homgimg_matches;
- drawMatches( copysrcImage1, keypoints_object, copysrcImage2, keypoints_scene,
- goodgood_matches, Homgimg_matches, Scalar::all(-1), Scalar::all(-1),
- vector(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
- imshow(“去除误匹配点后;”,Homgimg_matches);
- //从待测图片中获取角点
- vector obj_corners(4);
- obj_corners[0] = cvPoint(0,0); obj_corners[1] = cvPoint( srcImage1.cols, 0 );
- obj_corners[2] = cvPoint( srcImage1.cols, srcImage1.rows ); obj_corners[3] = cvPoint( 0, srcImage1.rows );
- vector scene_corners(4);
- //进行透视变换
- perspectiveTransform( obj_corners, scene_corners, H);
- //绘制出角点之间的直线
- line( img_matches, scene_corners[0] + Point2f( static_cast(srcImage1.cols), 0), scene_corners[1] + Point2f( static_cast(srcImage1.cols), 0), Scalar(255, 0, 123), 4 );
- line( img_matches, scene_corners[1] + Point2f( static_cast(srcImage1.cols), 0), scene_corners[2] + Point2f( static_cast(srcImage1.cols), 0), Scalar( 255, 0, 123), 4 );
- line( img_matches, scene_corners[2] + Point2f( static_cast(srcImage1.cols), 0), scene_corners[3] + Point2f( static_cast(srcImage1.cols), 0), Scalar( 255, 0, 123), 4 );
- line( img_matches, scene_corners[3] + Point2f( static_cast(srcImage1.cols), 0), scene_corners[0] + Point2f( static_cast(srcImage1.cols), 0), Scalar( 255, 0, 123), 4 );
- //显示最终结果
- imshow( “效果图”, img_matches );
- waitKey(0);
- return 0;
- }
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既有适合小白学习的零基础资料,也有适合3年以上经验的小伙伴深入学习提升的进阶课程,涵盖了95%以上C C++开发知识点,真正体系化!
由于文件比较多,这里只是将部分目录截图出来,全套包含大厂面经、学习笔记、源码讲义、实战项目、大纲路线、讲解视频,并且后续会持续更新