surf特征检测描述和匹配

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

using namespace cv;
using namespace std;

void readme();

/** @function main */
int main(int argc, char** argv)
{
	

	Mat img_1 = imread("color52.bmp", CV_LOAD_IMAGE_GRAYSCALE);
	Mat img_2 = imread("color51.bmp", 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);//定义最大特征数400
	std::vector<KeyPoint> keypoints_1, keypoints_2;//OpenCV里为角点检测提供了统一的接口，通过类下面的detect方法来检测对应的角点，而输出格式都是vector<KeyPoint>
	detector.detect(img_1, keypoints_1);//特征检测
	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);//提取SURF特征点以及其描述
	extractor.compute(img_2, keypoints_2, descriptors_2);

	//-- Step 3: Matching descriptor vectors with a brute force matcher计算匹配点数
	BruteForceMatcher< L2<float> > matcher;
	std::vector< DMatch > matches;
	matcher.match(descriptors_1, descriptors_2, matches);
	/*void match(const Mat& queryDescriptors, const Mat& trainDescriptors,
		CV_OUT vector<DMatch>& matches, const Mat& mask = Mat()) const;
	*/

//匹配点向量和画图
	int w = img_1.cols;
	int h = img_1.rows;
	Mat showImg(h, 2*w, CV_8UC1, Scalar(0, 0, 0));
	img_1.copyTo(showImg(Rect(0, 0, w,h)));
	img_2.copyTo(showImg(Rect(w, 0, w,h)));

	vector<Point2f> feture_matche[2];
	for (int i = 0; i < matches.size(); ++i)
	{
		
		Point2f p1 = keypoints_1[matches[i].queryIdx].pt;	//matches[i].queryIdx第i个匹配的特征点的索引，通过索引获得这个特征点在图一特征向量中的坐标
		Point2f p2 = keypoints_2[matches[i].trainIdx].pt;
		p2.x += w;

		CvScalar color = CV_RGB(rand() % 255, rand() % 255, rand() % 255);
		line(showImg, p1, p2, color);
		//int g = matches[i].distance;
		//将匹配点保存在feture_mache2维向量中
		feture_matche[0].push_back(p1);//未分配内存所以不能使用feture_matche[0][i]=p1
		feture_matche[1].push_back(p2);
		

		
	}

	for (int i = 0; i < feture_matche[0].size(); i++)
		cout << "图1已经匹配的特征点坐标p1" << i << "=" << feture_matche[0][i] << "  " << "图2已经匹配的特征点坐标p2" << i << "=" << feture_matche[1][i] << endl;
	cout << matches.size() << " " << feture_matche[0].size() << "  " << feture_matche[1].size() << endl;//这三个数是相等的
	
	

	imshow("match", showImg);


//只提取25个匹配点并画出
	std::nth_element(matches.begin(), matches.begin() + 24, matches.end());
	matches.erase(matches.begin() + 25, matches.end());
	//-- Draw matches
	Mat img_matches;
	drawMatches(img_1, keypoints_1, img_2, keypoints_2, matches, img_matches,Scalar(255, 0, 0));//未定义颜色则将画出不同颜色匹配线条

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

	waitKey(0);

	return 0;
}

/** @function readme */