OpenCV之feature2d 模块. 2D特征框架（2）特征描述 使用FLANN进行特征点匹配 使用二维特征点(Features2D)和单映射(Homography)寻找已知物体 平面物体检测

特征描述

目标

在本教程中，我们将涉及:

• 使用 DescriptorExtractor 接口来寻找关键点对应的特征向量. 特别地:
  • 使用 SurfDescriptorExtractor 以及它的函数 compute 来完成特定的计算.
  • 使用 BruteForceMatcher 来匹配特征向量。
  • 使用函数 drawMatches 来绘制检测到的匹配点.

理论

代码

这个教程代码如下所示. 你还可以 从这里下载到源代码

#include <stdio.h>
#include <iostream>
#include "opencv2/core/core.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/highgui/highgui.hpp"

using namespace cv;

void readme();

/** @function main */
int main( int argc, char** argv )
{
  if( argc != 3 )
   { return -1; }

  Mat img_1 = imread( argv[1], CV_LOAD_IMAGE_GRAYSCALE );
  Mat img_2 = imread( argv[2], CV_LOAD_IMAGE_GRAYSCALE );

  if( !img_1.data || !img_2.data )
   { return -1; }

  //-- Step 1: Detect the keypoints using SURF Detector
  int minHessian = 400;

  SurfFeatureDetector detector( minHessian );

  std::vector<KeyPoint> keypoints_1, keypoints_2;

  detector.detect( img_1, keypoints_1 );
  detector.detect( img_2, keypoints_2 );

  //-- Step 2: Calculate descriptors (feature vectors)
  SurfDescriptorExtractor extractor;

  Mat descriptors_1, descriptors_2;

  extractor.compute( img_1, keypoints_1, descriptors_1 );
  extractor.compute( img_2, keypoints_2, descriptors_2 );

  //-- Step 3: Matching descriptor vectors with a brute force matcher
  BruteForceMatcher< L2<float> > matcher;
  std::vector< DMatch > matches;
  matcher.match( descriptors_1, descriptors_2, matches );

  //-- Draw matches
  Mat img_matches;
  drawMatches( img_1, keypoints_1, img_2, keypoints_2, matches, img_matches );

  //-- Show detected matches
  imshow("Matches", img_matches );

  waitKey(0);

  return 0;
  }

 /** @function readme */
 void readme()
 { std::cout << " Usage: ./SURF_descriptor <img1> <img2>" << std::endl; }

解释

结果

1. 这是使用BruteForce 匹配两张图的结果:

   

使用FLANN进行特征点匹配

目标

在本教程中我们将涉及以下内容:

• 使用 FlannBasedMatcher 接口以及函数 FLANN 实现快速高效匹配( 快速最近邻逼近搜索函数库(Fast Approximate Nearest Neighbor Search Library) )

理论

代码

这个教程的源代码如下所示。你还可以从 以下链接下载得到源代码

#include <stdio.h>
#include <iostream>
#include "opencv2/core/core.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/highgui/highgui.hpp"

using namespace cv;

void readme();

/** @function main */
int main( int argc, char** argv )
{
  if( argc != 3 )
  { readme(); return -1; }

  Mat img_1 = imread( argv[1], CV_LOAD_IMAGE_GRAYSCALE );
  Mat img_2 = imread( argv[2], CV_LOAD_IMAGE_GRAYSCALE );

  if( !img_1.data || !img_2.data )
  { std::cout<< " --(!) Error reading images " << std::endl; return -1; }

  //-- Step 1: Detect the keypoints using SURF Detector
  int minHessian = 400;

  SurfFeatureDetector detector( minHessian );

  std::vector<KeyPoint> keypoints_1, keypoints_2;

  detector.detect( img_1, keypoints_1 );
  detector.detect( img_2, keypoints_2 );

  //-- Step 2: Calculate descriptors (feature vectors)
  SurfDescriptorExtractor extractor;

  Mat descriptors_1, descriptors_2;

  extractor.compute( img_1, keypoints_1, descriptors_1 );
  extractor.compute( img_2, keypoints_2, descriptors_2 );

  //-- Step 3: Matching descriptor vectors using FLANN matcher
  FlannBasedMatcher matcher;
  std::vector< DMatch > matches;
  matcher.match( descriptors_1, descriptors_2, matches );

  double max_dist = 0; double min_dist = 100;

  //-- Quick calculation of max and min distances between keypoints
  for( int i = 0; i < descriptors_1.rows; i++ )
  { double dist = matches[i].distance;
    if( dist < min_dist ) min_dist = dist;
    if( dist > max_dist ) max_dist = dist;
  }

  printf("-- Max dist : %f \n", max_dist );
  printf("-- Min dist : %f \n", min_dist );

  //-- Draw only "good" matches (i.e. whose distance is less than 2*min_dist )
  //-- PS.- radiusMatch can also be used here.
  std::vector< DMatch > good_matches;

  for( int i = 0; i < descriptors_1.rows; i++ )
  { if( matches[i].distance < 2*min_dist )
    { good_matches.push_back( matches[i]); }
  }

  //-- Draw only "good" matches
  Mat img_matches;
  drawMatches( img_1, keypoints_1, img_2, keypoints_2,
               good_matches, img_matches, Scalar::all(-1), Scalar::all(-1),
               vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );

  //-- Show detected matches
  imshow( "Good Matches", img_matches );

  for( int i = 0; i < good_matches.size(); i++ )
  { printf( "-- Good Match [%d] Keypoint 1: %d  -- Keypoint 2: %d  \n", i, good_matches[i].queryIdx, good_matches[i].trainIdx ); }

  waitKey(0);

  return 0;
 }

 /** @function readme */
 void readme()
 { std::cout << " Usage: ./SURF_FlannMatcher <img1> <img2>" << std::endl; }

解释

结果

1. 这里是第一张图特征点检测结果:

   

2. 此外我们通过控制台输出FLANN匹配关键点结果:

   

使用二维特征点(Features2D)和单映射(Homography)寻找已知物体

目标

在本教程中我们将涉及以下内容:

• 使用函数 findHomography 寻找匹配上的关键点的变换。
• 使用函数 perspectiveTransform 来映射点.

理论

代码

这个教程的源代码如下所示。你还可以从 以下链接下载到源代码

#include <stdio.h>
#include <iostream>
#include "opencv2/core/core.hpp"
#include "opencv2/features2d/features2d.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/calib3d/calib3d.hpp"

using namespace cv;

void readme();

/** @function main */
int main( int argc, char** argv )
{
  if( argc != 3 )
  { readme(); return -1; }

  Mat img_object = imread( argv[1], CV_LOAD_IMAGE_GRAYSCALE );
  Mat img_scene = imread( argv[2], CV_LOAD_IMAGE_GRAYSCALE );

  if( !img_object.data || !img_scene.data )
  { std::cout<< " --(!) Error reading images " << std::endl; return -1; }

  //-- Step 1: Detect the keypoints using SURF Detector
  int minHessian = 400;

  SurfFeatureDetector detector( minHessian );

  std::vector<KeyPoint> keypoints_object, keypoints_scene;

  detector.detect( img_object, keypoints_object );
  detector.detect( img_scene, keypoints_scene );

  //-- Step 2: Calculate descriptors (feature vectors)
  SurfDescriptorExtractor extractor;

  Mat descriptors_object, descriptors_scene;

  extractor.compute( img_object, keypoints_object, descriptors_object );
  extractor.compute( img_scene, keypoints_scene, descriptors_scene );

  //-- Step 3: Matching descriptor vectors using FLANN matcher
  FlannBasedMatcher matcher;
  std::vector< DMatch > matches;
  matcher.match( descriptors_object, descriptors_scene, matches );

  double max_dist = 0; double min_dist = 100;

  //-- Quick calculation of max and min distances between keypoints
  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 : %f \n", max_dist );
  printf("-- Min dist : %f \n", min_dist );

  //-- Draw only "good" matches (i.e. whose distance is less than 3*min_dist )
  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]); }
  }

  Mat img_matches;
  drawMatches( img_object, keypoints_object, img_scene, keypoints_scene,
               good_matches, img_matches, Scalar::all(-1), Scalar::all(-1),
               vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );

  //-- Localize the object
  std::vector<Point2f> obj;
  std::vector<Point2f> scene;

  for( int i = 0; i < good_matches.size(); i++ )
  {
    //-- Get the keypoints from the good matches
    obj.push_back( keypoints_object[ good_matches[i].queryIdx ].pt );
    scene.push_back( keypoints_scene[ good_matches[i].trainIdx ].pt );
  }

  Mat H = findHomography( obj, scene, CV_RANSAC );

  //-- Get the corners from the image_1 ( the object to be "detected" )
  std::vector<Point2f> obj_corners(4);
  obj_corners[0] = cvPoint(0,0); obj_corners[1] = cvPoint( img_object.cols, 0 );
  obj_corners[2] = cvPoint( img_object.cols, img_object.rows ); obj_corners[3] = cvPoint( 0, img_object.rows );
  std::vector<Point2f> scene_corners(4);

  perspectiveTransform( obj_corners, scene_corners, H);

  //-- Draw lines between the corners (the mapped object in the scene - image_2 )
  line( img_matches, scene_corners[0] + Point2f( img_object.cols, 0), scene_corners[1] + Point2f( img_object.cols, 0), Scalar(0, 255, 0), 4 );
  line( img_matches, scene_corners[1] + Point2f( img_object.cols, 0), scene_corners[2] + Point2f( img_object.cols, 0), Scalar( 0, 255, 0), 4 );
  line( img_matches, scene_corners[2] + Point2f( img_object.cols, 0), scene_corners[3] + Point2f( img_object.cols, 0), Scalar( 0, 255, 0), 4 );
  line( img_matches, scene_corners[3] + Point2f( img_object.cols, 0), scene_corners[0] + Point2f( img_object.cols, 0), Scalar( 0, 255, 0), 4 );

  //-- Show detected matches
  imshow( "Good Matches & Object detection", img_matches );

  waitKey(0);
  return 0;
  }

  /** @function readme */
  void readme()
  { std::cout << " Usage: ./SURF_descriptor <img1> <img2>" << std::endl; }

解释

结果¶

1. 检测到的目标结果 (用绿色标记出来的部分)

   

平面物体检测

这个教程的目标是学习如何使用 features2d 和 calib3d 模块来检测场景中的已知平面物体。

测试数据: 数据图像文件，比如 “box.png”或者“box_in_scene.png”等。

1. 创建新的控制台(console)项目。读入两个输入图像。

   Mat img1 = imread(argv[1], CV_LOAD_IMAGE_GRAYSCALE);
   Mat img2 = imread(argv[2], CV_LOAD_IMAGE_GRAYSCALE);
   

2. 检测两个图像的关键点（尺度旋转都不发生变化的关键点）。

   // 对第一幅图像进行关键点检测
   FastFeatureDetector detector(15);
   vector<KeyPoint> keypoints1;
   detector.detect(img1, keypoints1);
   
   ... // 对第二幅图像进行关键点检测
   

3. 计算每个关键点的描述向量(Descriptor)。

   // 计算描述向量
   SurfDescriptorExtractor extractor;
   Mat descriptors1;
   extractor.compute(img1, keypoints1, descriptors1);
   
   ... // 计算第二幅图像中的关键点对应的描述向量
   

4. 计算两幅图像中的关键点对应的描述向量距离，寻找两图像中距离最近的描述向量对应的关键点，即为两图像中匹配上的关键点:

   // 关键点描述向量匹配
   BruteForceMatcher<L2<float> > matcher;
   vector<DMatch> matches;
   matcher.match(descriptors1, descriptors2, matches);
   

5. 可视化结果:

   // 绘制出结果
   namedWindow("matches", 1);
   Mat img_matches;
   drawMatches(img1, keypoints1, img2, keypoints2, matches, img_matches);
   imshow("matches", img_matches);
   waitKey(0);
   

6. 寻找两个点集合中的单映射变换（homography transformation）:

   vector<Point2f> points1, points2;
   // 用点填充形成矩阵(array)
   ....
   Mat H = findHomography(Mat(points1), Mat(points2), CV_RANSAC, ransacReprojThreshold);
   

7. 创建内匹配点集合同时绘制出匹配上的点。用perspectiveTransform函数来通过单映射来映射点:

   Mat points1Projected; perspectiveTransform(Mat(points1), points1Projected, H);

8. 用 drawMatches 来绘制内匹配点.

from: http://www.opencv.org.cn/opencvdoc/2.3.2/html/doc/tutorials/features2d/table_of_content_features2d/table_of_content_features2d.html#table-of-content-feature2d