利用ORB匹配实现场景中的物体模板检测（C++实现 2019.11.26）

由于要研究图像的监测相关知识，所以考虑利用相关知识实现图像内部物体的监测。C++代码如下：

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

using namespace cv;
int main(int argc, char** argv);
void readme();
/* @function main */
int main(int argc, char** argv)
{

	Mat img_object = imread("F:\\mo.jpg", IMREAD_GRAYSCALE);  //模板
	Mat img_scene = imread("F:\\moss.jpg", IMREAD_GRAYSCALE); //场景
	//resize的目的是因为是利用手机摄像头取得模板，导致图片的像素过大，为了可以显示
	//如果想要调整图片的像素，可以去windows自带的画图工具调整（这样可以加快匹配的速度）
	resize(img_object, img_object, Size(400,400));
	resize(img_scene,  img_scene,  Size(800,600));
	if (!img_object.data || !img_scene.data)
	{
		std::cout << " --(!) Error reading images " << std::endl; 
		return -1;
	}

	Ptr<ORB> detector = ORB::create();
	std::vector<KeyPoint> keypoints_object, keypoints_scene;
	Mat descriptors_object, descriptors_scene;

	detector->detectAndCompute(img_object, Mat(), keypoints_object, descriptors_object);
	detector->detectAndCompute(img_scene, Mat(), keypoints_scene, descriptors_scene);
	BFMatcher matcher;
	std::vector< DMatch > matches;
	matcher.match(descriptors_object, descriptors_scene, matches);
	double max_dist = 0; 
	double min_dist = 100;
	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);
	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),
		std::vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);
	
	std::vector<Point2f> obj;
	std::vector<Point2f> scene;
	for (size_t 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, RANSAC);
	if (H.empty())   
	//因为是特征点随机监测，如果特征点不丰富或者角度有问题，会出现Homography为空的现象
	{
		std::cout << "yesssssssssssss" << std::endl;
		std::cout << H.type() << std::endl;
	}
	
	std::vector<cv::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<cv::Point2f> scene_corners(4);
	perspectiveTransform(obj_corners, scene_corners, H);
	std::cout << scene_corners[0] << std::endl;
	std::cout << scene_corners[1] << std::endl;
	std::cout << scene_corners[2] << std::endl;
	std::cout << scene_corners[3] << std::endl;
	std::cout << Point2f(img_object.cols, 0) << std::endl;

	//这里因为需要知道中间的计算结果，所以讲匹配图和最后需要的结果图都显示出来，关闭掉第一个以后，打开第二张图	
	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);
	line(img_scene, scene_corners[0] , scene_corners[1] , Scalar(0, 255, 0), 4);
	line(img_scene, scene_corners[1] , scene_corners[2] , Scalar(0, 255, 0), 4);
	line(img_scene, scene_corners[2] , scene_corners[3] , Scalar(0, 255, 0), 4);
	line(img_scene, scene_corners[3] , scene_corners[0] , Scalar(0, 255, 0), 4);
	
	imshow("Good Matches & Object detection", img_matches);
	waitKey(0);
	imshow("Good Matches & Object detection", img_scene);
	waitKey(0);
	return 0;
}

这个算法是依据特征点匹配来实现的，带来的问题有：
（1）在计算homography时，可能会出现为空的状况；
（2）需要尽量选择特征点比较丰富的图片作为模板，否则会出现画出的线不匹配的状况。

匹配的中间结果截图：
最后算法结果：