C C++最新特征点匹配及消除误匹配点，2024年最新C C++音频面试题_c++ 手写计算基础矩阵f 筛选匹配特征点-CSDN博客

本文链接：https://blog.csdn.net/2401_84975843/article/details/138888568

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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）

[cpp]
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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：

[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;
}