特征点检测与匹配（码—基于opencv)

理论知识参考于基于图像的三维重建-特征点检测与匹配

在这里用的opencv是440版本的，接下来就是相应的代码

#include<opencv2/xfeatures2d/nonfree.hpp>
#include<opencv2/features2d/features2d.hpp>
#include<opencv2/highgui/highgui.hpp>
#include<opencv2/calib3d/calib3d.hpp>
#include<iostream>
#include<tinydir.h>


using namespace cv;
using namespace std;

void extract_features(vector<string>& image_names, vector<vector<KeyPoint>>& key_point_for_all,
	                 vector<Mat>& descriptor_for_all, vector<vector<Vec3b>>& colors_for_all)
{
	key_point_for_all.clear();
	descriptor_for_all.clear();
	Mat image;

	//读取图像，获取图像特征点，并保存
	Ptr<Feature2D> sift = cv::SIFT::create(0, 3, 0.04, 10.0);
	for (auto it = image_names.begin(); it != image_names.end(); ++it)
	{
		image = imread(*it);
		if (image.empty())
			continue;

		cout << "Extracing features: " << *it << endl;

		vector<KeyPoint> key_points;
		Mat descriptor;

		//检测特征点并计算描述符
		sift->detectAndCompute(image, noArray(), key_points, descriptor);

		//特征点过少，则排除该图像
		if (key_points.size() <= 10)
			continue;

		key_point_for_all.push_back(key_points);
		descriptor_for_all.push_back(descriptor);

		vector<Vec3b> colors(key_points.size());
		for (int i = 0; i < key_points.size(); ++i)
		{
			Point2f& p = key_points[i].pt;
			colors[i] = image.at<Vec3b>(p.y, p.x);
		}
		colors_for_all.push_back(colors);
	}
}


void match_features(Mat& query, Mat& train, vector<DMatch>& matches)
{
	vector<vector<DMatch>> knn_matches;
	BFMatcher matcher(NORM_L2);
 
	matcher.knnMatch(query, train, knn_matches, 2);

	//获取满足Ratio Test的最小匹配的距离
	float min_dist = FLT_MAX;
	for (int r = 0; r < knn_matches.size(); ++r)
	{
		//Ratio Test
		if (knn_matches[r][0].distance > 0.6*knn_matches[r][1].distance)
			continue;
		float dist = knn_matches[r][0].distance;
		if (dist < min_dist)
			min_dist = dist;
	}

	matches.clear();
	for (size_t r = 0; r < knn_matches.size(); ++r)
	{
		//排除不满足Ratio Test的点和匹配距离过大的点
		if (knn_matches[r][0].distance > 0.6*knn_matches[r][1].distance ||
			knn_matches[r][0].distance > 5 * max(min_dist, 10.0f))
			continue;

		//保存匹配点
		matches.push_back(knn_matches[r][0]);
	}

}


void match_features(vector<Mat>& descriptor_for_all, vector<vector<DMatch>>& matches_for_all)
{
	matches_for_all.clear();
	// n个图像，两两顺次有 n-1 对匹配
	// 1与2匹配，2与3匹配，3与4匹配，以此类推
	for (int i = 0; i < descriptor_for_all.size() - 1; ++i)
	{
		cout << "Matching images " << i << " - " << i + 1 << endl;
		vector<DMatch> matches;
		match_features(descriptor_for_all[i], descriptor_for_all[i + 1], matches);
		matches_for_all.push_back(matches);

		
	}
}

void get_file_names(string dir_name, vector<string> & names)
{
	names.clear();
	tinydir_dir dir;
	tinydir_open(&dir, dir_name.c_str());

	while (dir.has_next)
	{
		tinydir_file file;
		tinydir_readfile(&dir, &file);
		if (!file.is_dir)
		{
			names.push_back(file.path);
		}
		tinydir_next(&dir);
	}
	tinydir_close(&dir);
}

void show(vector<string>& image_names, vector<vector<KeyPoint>>& key_point_for_all, vector<vector<DMatch>>& matches_for_all)
{
	for (int i = 0; i < image_names.size()-1; i++)
	{
		Mat imageMatches;
		Mat image1 = imread(image_names[i]);
		Mat image2 = imread(image_names[i+1]);
		if (image1.empty() || image2.empty())
			continue;
		drawMatches(image1, key_point_for_all[i], image2, key_point_for_all[i + 1], matches_for_all[i], imageMatches, Scalar(255, 0, 0));
		imwrite(to_string(i) + "-" + to_string(i + 1)+".jpg", imageMatches);

	}
}

int main(int argc, char **argv)
{
	if (argc < 2)
		return -1;

	vector<string> img_names;
	get_file_names("images", img_names);
	if (img_names.size() == 0)
	{
		cout << "图片路径error" << endl;
		return -2;
	}

	vector<vector<KeyPoint>> key_points_for_all;
	vector<Mat> descriptor_for_all;
	vector<vector<Vec3b>> colors_for_all;
	vector<vector<DMatch>> matches_for_all;
	//提取所有图像的特征
	extract_features(img_names, key_points_for_all, descriptor_for_all, colors_for_all);
	//对所有图像进行顺次的特征匹配
	match_features(descriptor_for_all, matches_for_all);
	

	show(img_names, key_points_for_all, matches_for_all);
	return 0;
}

对应的资源下载为代码文件下载

得到的结果图如下：