# 【Matlab Computer Vision System ToolBox】学习笔记-1-点云配准流程 | 特征匹配

【Matlab Computer Vision System ToolBox】学习笔记-1-点云配准流程 | 特征匹配

【Matlab Computer Vision System ToolBox】学习笔记-2-3D立体图创建 | 视差图 | 3D点云图

【Matlab Computer Vision System ToolBox】学习笔记-3 -点云配准 | 噪音去除 | 降采样

【Matlab Computer Vision System ToolBox】学习笔记-4 -点云文件PLY格式

# 2. Bluran Image Using an Average Filter -均值滤波模糊图像

>> I=imread('pout.tif');
>> imshow(I);
>> intImage=integralImage(I);
>> imshow(intImage);
>> avgH=integralKernel([1 1 7 7],1/49);
>> J=integralFilter(intImage,avgH);
>> imshow(J);
>> J=uint8(J);
>> figure
>> imshow(J);

# 3. Find Corresponding Interest Points Between Pair of Images -寻找两幅图中相应兴趣点

>> I1=rgb2gray(imread('viprectification_deskLeft.png'));
>> points1=detectHarrisFeatures(I1);
>> points2=detectHarrisFeatures(I2);                        //获取Harris角点
>> [features1,valid_points1]=extractFeatures(I1,points1);

>> [features2,valid_points2]=extractFeatures(I2,points2);    // 提取特征点

>> indexPairs=matchFeatures(features1,features2); //特征匹配
>> matchPoints1=valid_points1(indexPairs(:,1),:);
>> matchPoints2=valid_points2(indexPairs(:,2),:); //恢复特征点在图中的位置
>> figure;
>> showMatchedFeatures(I1,I2,matchPoints1,matchPoints2);

# 4. Find Corresponding Points Using SURF Features -使用SURF匹配图像特征

>> I1=imread('cameraman.tif');
>> I2=imresize(imrotate(I1,-30),1.3);
>> pionts1=detectSURFFeatures(I1);     //检测SURF角点
>> points2=detectSURFFeatures(I2);

>> [f1,vpts1]=extractFeatures(I1,pionts1);
>> [f2,vpts2]=extractFeatures(I2,points2);
>> indexPairs=matchFeatures(f1,f2);

>> matchedPoints1=vpts1(indexPairs(:,1));
>> matchedPoints2=vpts2(indexPairs(:,2));
>> figure;
>> showMatchedFeatures(I1,I2,matchedPoints1,matchedPoints2);
>> legend('matched points1','matched points2');

[tform,inlierDistorted,inlierOriginal]=estimateGeometricTransform(matchedPoints2,matchedPoints1,'similarity');
figure;
showMatchedFeatures(I1,I2,inlierOriginal,inlierDistorted);
title('Matching points(inliers only)');
legend('I1','I2');

# 5. Detect SURF Interest Points in a Grayscale Image -在灰度图中检测SURF特征点

imshow(I1); hold on;
plot(points1.selectStrongest(10));

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