看到OpenCV2.4.6里面ORB特征提取算法也在里面了,套用给的SURF特征例子程序改为ORB特征一直提示错误,类型不匹配神马的,由于没有找到示例程序,只能自己找答案。
经过查找发现:
描述符数据类型有是float的,比如说SIFT,SURF描述符,还有是uchar的,比如说有ORB,BRIEF
对于float 匹配方式有:
FlannBased
BruteForce<L2<float> >
BruteForce<SL2<float> >
BruteForce<L1<float> >
对于uchar有:
BruteForce<Hammin>
BruteForce<HammingLUT>
BruteForceMatcher< L2<float> > matcher;//改动的地方
BruteForceMatcher< L2<float> > matcher;//改动的地方
完整代码如下:
经过查找发现:
描述符数据类型有是float的,比如说SIFT,SURF描述符,还有是uchar的,比如说有ORB,BRIEF
对于float 匹配方式有:
FlannBased
BruteForce<L2<float> >
BruteForce<SL2<float> >
BruteForce<L1<float> >
对于uchar有:
BruteForce<Hammin>
BruteForce<HammingLUT>
BruteForceMatcher< L2<float> > matcher;//改动的地方
BruteForceMatcher< L2<float> > matcher;//改动的地方
完整代码如下:
#include "StdAfx.h"
#include <windows.h>
#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/nonfree/features2d.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#include <opencv2/legacy/legacy.hpp>
#include<opencv2/nonfree/nonfree.hpp>
- int main(int argc, char** argv)
- {
- initModule_nonfree();//初始化模块,使用SIFT或SURF时用到
- Ptr<FeatureDetector> detector = FeatureDetector::create( "SURF" );//创建SIFT特征检测器,可改成SURF/ORB
- Ptr<DescriptorExtractor> descriptor_extractor = DescriptorExtractor::create( "SURF" );//创建特征向量生成器,可改成SURF/ORB
- Ptr<DescriptorMatcher> descriptor_matcher = DescriptorMatcher::create( "BruteForce" );//创建特征匹配器
- if( detector.empty() || descriptor_extractor.empty() )
- cout<<"fail to create detector!";
- //读入图像
- Mat img1 = imread("E:/Book/3.jpg");
- Mat img2 = imread("E:/Book/4.jpg");
- Size imgSize(320,240);
- resize(img1, img1, imgSize);
- resize(img2, img2, imgSize);
- //特征点检测
- double t = getTickCount();//当前滴答数
- vector<KeyPoint> m_LeftKey,m_RightKey;
- detector->detect( img1, m_LeftKey );//检测img1中的SIFT特征点,存储到m_LeftKey中
- detector->detect( img2, m_RightKey );
- cout<<"图像1特征点个数:"<<m_LeftKey.size()<<endl;
- cout<<"图像2特征点个数:"<<m_RightKey.size()<<endl;
- //根据特征点计算特征描述子矩阵,即特征向量矩阵
- Mat descriptors1,descriptors2;
- descriptor_extractor->compute( img1, m_LeftKey, descriptors1 );
- descriptor_extractor->compute( img2, m_RightKey, descriptors2 );
- t = ((double)getTickCount() - t)/getTickFrequency();
- cout<<"SIFT算法用时:"<<t<<"秒"<<endl;
- cout<<"图像1特征描述矩阵大小:"<<descriptors1.size()
- <<",特征向量个数:"<<descriptors1.rows<<",维数:"<<descriptors1.cols<<endl;
- cout<<"图像2特征描述矩阵大小:"<<descriptors2.size()
- <<",特征向量个数:"<<descriptors2.rows<<",维数:"<<descriptors2.cols<<endl;
- //画出特征点
- Mat img_m_LeftKey,img_m_RightKey;
- drawKeypoints(img1,m_LeftKey,img_m_LeftKey,Scalar::all(-1),0);
- drawKeypoints(img2,m_RightKey,img_m_RightKey,Scalar::all(-1),0);
- //imshow("Src1",img_m_LeftKey);
- //imshow("Src2",img_m_RightKey);
- //特征匹配
- vector<DMatch> matches;//匹配结果
- descriptor_matcher->match( descriptors1, descriptors2, matches );//匹配两个图像的特征矩阵
- cout<<"Match个数:"<<matches.size()<<endl;
- //计算匹配结果中距离的最大和最小值
- //距离是指两个特征向量间的欧式距离,表明两个特征的差异,值越小表明两个特征点越接近
- double max_dist = 0;
- double min_dist = 100;
- for(int i=0; i<matches.size(); i++)
- {
- double dist = matches[i].distance;
- if(dist < min_dist) min_dist = dist;
- if(dist > max_dist) max_dist = dist;
- }
- cout<<"最大距离:"<<max_dist<<endl;
- cout<<"最小距离:"<<min_dist<<endl;
- //筛选出较好的匹配点
- vector<DMatch> goodMatches;
- for(int i=0; i<matches.size(); i++)
- {
- if(matches[i].distance < 0.6 * max_dist)
- {
- goodMatches.push_back(matches[i]);
- }
- }
- cout<<"goodMatch个数:"<<goodMatches.size()<<endl;
- //画出匹配结果
- Mat img_matches;
- //红色连接的是匹配的特征点对,绿色是未匹配的特征点
- drawMatches(img1,m_LeftKey,img2,m_RightKey,goodMatches,img_matches,
- Scalar::all(-1)/*CV_RGB(255,0,0)*/,CV_RGB(0,255,0),Mat(),2);
- imshow("MatchSIFT",img_matches);
- IplImage result=img_matches;
- waitKey(10);
- //RANSAC匹配过程
- vector<DMatch> m_Matches=goodMatches;
- // 分配空间
- int ptCount = (int)m_Matches.size();
- if ( ptCount<100)
- {
- cout<<"没有找到足够的匹配点"<<endl;
- waitKey(0);
- return 0;
- }
- Mat p1(ptCount, 2, CV_32F);
- Mat p2(ptCount, 2, CV_32F);
- // 把Keypoint转换为Mat
- Point2f pt;
- for (int i=0; i<ptCount; i++)
- {
- pt = m_LeftKey[m_Matches[i].queryIdx].pt;
- p1.at<float>(i, 0) = pt.x;
- p1.at<float>(i, 1) = pt.y;
- pt = m_RightKey[m_Matches[i].trainIdx].pt;
- p2.at<float>(i, 0) = pt.x;
- p2.at<float>(i, 1) = pt.y;
- }
- // 用RANSAC方法计算F
- Mat m_Fundamental;
- vector<uchar> m_RANSACStatus; // 这个变量用于存储RANSAC后每个点的状态
- findFundamentalMat(p1, p2, m_RANSACStatus, FM_RANSAC);
- // 计算野点个数
- int OutlinerCount = 0;
- for (int i=0; i<ptCount; i++)
- {
- if (m_RANSACStatus[i] == 0) // 状态为0表示野点
- {
- OutlinerCount++;
- }
- }
- int InlinerCount = ptCount - OutlinerCount; // 计算内点
- cout<<"内点数为:"<<InlinerCount<<endl;
- // 这三个变量用于保存内点和匹配关系
- vector<Point2f> m_LeftInlier;
- vector<Point2f> m_RightInlier;
- vector<DMatch> m_InlierMatches;
- m_InlierMatches.resize(InlinerCount);
- m_LeftInlier.resize(InlinerCount);
- m_RightInlier.resize(InlinerCount);
- InlinerCount=0;
- float inlier_minRx=img1.cols; //用于存储内点中右图最小横坐标,以便后续融合
- for (int i=0; i<ptCount; i++)
- {
- if (m_RANSACStatus[i] != 0)
- {
- m_LeftInlier[InlinerCount].x = p1.at<float>(i, 0);
- m_LeftInlier[InlinerCount].y = p1.at<float>(i, 1);
- m_RightInlier[InlinerCount].x = p2.at<float>(i, 0);
- m_RightInlier[InlinerCount].y = p2.at<float>(i, 1);
- m_InlierMatches[InlinerCount].queryIdx = InlinerCount;
- m_InlierMatches[InlinerCount].trainIdx = InlinerCount;
- if(m_RightInlier[InlinerCount].x<inlier_minRx) inlier_minRx=m_RightInlier[InlinerCount].x; //存储内点中右图最小横坐标
- InlinerCount++;
- }
- }
- // 把内点转换为drawMatches可以使用的格式
- vector<KeyPoint> key1(InlinerCount);
- vector<KeyPoint> key2(InlinerCount);
- KeyPoint::convert(m_LeftInlier, key1);
- KeyPoint::convert(m_RightInlier, key2);
- // 显示计算F过后的内点匹配
- Mat OutImage;
- drawMatches(img1, key1, img2, key2, m_InlierMatches, OutImage);
- cvNamedWindow( "Match features", 1);
- cvShowImage("Match features", &IplImage(OutImage));
- waitKey(10);
- cvDestroyAllWindows();
- //矩阵H用以存储RANSAC得到的单应矩阵
- Mat H = findHomography( m_LeftInlier, m_RightInlier, RANSAC );
- //存储左图四角,及其变换到右图位置
- std::vector<Point2f> obj_corners(4);
- obj_corners[0] = Point(0,0); obj_corners[1] = Point( img1.cols, 0 );
- obj_corners[2] = Point( img1.cols, img1.rows ); obj_corners[3] = Point( 0, img1.rows );
- std::vector<Point2f> scene_corners(4);
- perspectiveTransform( obj_corners, scene_corners, H);
- //画出变换后图像位置
- Point2f offset( (float)img1.cols, 0);
- line( OutImage, scene_corners[0]+offset, scene_corners[1]+offset, Scalar( 0, 255, 0), 4 );
- line( OutImage, scene_corners[1]+offset, scene_corners[2]+offset, Scalar( 0, 255, 0), 4 );
- line( OutImage, scene_corners[2]+offset, scene_corners[3]+offset, Scalar( 0, 255, 0), 4 );
- line( OutImage, scene_corners[3]+offset, scene_corners[0]+offset, Scalar( 0, 255, 0), 4 );
- imshow( "Good Matches & Object detection", OutImage );
- waitKey(10);
- imwrite("warp_position.jpg",OutImage);
- int drift = scene_corners[1].x; //储存偏移量
- //新建一个矩阵存储配准后四角的位置
- int width = int(max(abs(scene_corners[1].x), abs(scene_corners[2].x)));
- int height= img1.rows; //或者:int height = int(max(abs(scene_corners[2].y), abs(scene_corners[3].y)));
- float origin_x=0,origin_y=0;
- if(scene_corners[0].x<0) {
- if (scene_corners[3].x<0) origin_x+=min(scene_corners[0].x,scene_corners[3].x);
- else origin_x+=scene_corners[0].x;}
- width-=int(origin_x);
- if(scene_corners[0].y<0) {
- if (scene_corners[1].y) origin_y+=min(scene_corners[0].y,scene_corners[1].y);
- else origin_y+=scene_corners[0].y;}
- //可选:height-=int(origin_y);
- Mat imageturn=Mat::zeros(width,height,img1.type());
- //获取新的变换矩阵,使图像完整显示
- for (int i=0;i<4;i++) {scene_corners[i].x -= origin_x; } //可选:scene_corners[i].y -= (float)origin_y; }
- Mat H1=getPerspectiveTransform(obj_corners, scene_corners);
- //进行图像变换,显示效果
- warpPerspective(img1,imageturn,H1,Size(width,height));
- imshow("image_Perspective", imageturn);
- waitKey(10);
- //图像融合
- int width_ol=width-int(inlier_minRx-origin_x);
- int start_x=int(inlier_minRx-origin_x);
- cout<<"width: "<<width<<endl;
- cout<<"img1.width: "<<img1.cols<<endl;
- cout<<"start_x: "<<start_x<<endl;
- cout<<"width_ol: "<<width_ol<<endl;
- uchar* ptr=imageturn.data;
- double alpha=0, beta=1;
- for (int row=0;row<height;row++)
- {
- ptr=imageturn.data+row*imageturn.step+(start_x)*imageturn.elemSize();
- for(int col=0;col<width_ol;col++)
- {
- uchar* ptr_c1=ptr+imageturn.elemSize1();
- uchar* ptr_c2=ptr_c1+imageturn.elemSize1();
- uchar* ptr2=img2.data+row*img2.step+(col+int(inlier_minRx))*img2.elemSize();
- uchar* ptr2_c1=ptr2+img2.elemSize1();
- uchar* ptr2_c2=ptr2_c1+img2.elemSize1();
- alpha=double(col)/double(width_ol); beta=1-alpha;
- if (*ptr==0&&*ptr_c1==0&&*ptr_c2==0)
- {
- *ptr=(*ptr2);
- *ptr_c1=(*ptr2_c1);
- *ptr_c2=(*ptr2_c2);
- }
- *ptr=(*ptr)*beta+(*ptr2)*alpha;
- *ptr_c1=(*ptr_c1)*beta+(*ptr2_c1)*alpha;
- *ptr_c2=(*ptr_c2)*beta+(*ptr2_c2)*alpha;
- ptr+=imageturn.elemSize();
- } }
- //imshow("image_overlap", imageturn);
- //waitKey(0);
- Mat img_result=Mat::zeros(height,width+img2.cols-drift,img1.type());
- uchar* ptr_r=imageturn.data;
- for (int row=0;row<height;row++)
- {
- ptr_r=img_result.data+row*img_result.step;
- for(int col=0;col<img_result.cols;col++)
- {
- uchar* ptr_rc1=ptr_r+imageturn.elemSize1();
- uchar* ptr_rc2=ptr_rc1+imageturn.elemSize1();
- uchar* ptr=imageturn.data+row*imageturn.step+col*imageturn.elemSize();
- uchar* ptr_c1=ptr+imageturn.elemSize1();
- uchar* ptr_c2=ptr_c1+imageturn.elemSize1();
- *ptr_r=*ptr;
- *ptr_rc1=*ptr_c1;
- *ptr_rc2=*ptr_c2;
- ptr_r+=img_result.elemSize();
- }
- ptr_r=img_result.data+row*img_result.step+imageturn.cols*img_result.elemSize();
- for(int col=imageturn.cols;col<img_result.cols;col++)
- {
- uchar* ptr_rc1=ptr_r+imageturn.elemSize1();
- uchar* ptr_rc2=ptr_rc1+imageturn.elemSize1();
- uchar* ptr2=img2.data+row*img2.step+(col-imageturn.cols+drift)*img2.elemSize();
- uchar* ptr2_c1=ptr2+img2.elemSize1();
- uchar* ptr2_c2=ptr2_c1+img2.elemSize1();
- *ptr_r=*ptr2;
- *ptr_rc1=*ptr2_c1;
- *ptr_rc2=*ptr2_c2;
- ptr_r+=img_result.elemSize();
- }
- }
- //imshow("image_result", img_result);
- //imwrite("final_result.jpg",img_result);
- waitKey(0);
- return 0;
- }