python+OpenCV 特征点检测

1.Harris角点检测

Harris角点检测算法是一个极为简单的角点检测算法，该算法在1988年就被发明了，算法的主要思想是如果像素周围显示存在多于一个方向的边，我们认为该点为兴趣点。基本原理是根据公式： 
 
化简为求解矩阵，最后根据矩阵的特征值判断是否为角点 
 
 
实现效果： 
 
代码（不用OpenCV）：

<code class="hljs python has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># -*- coding: utf-8 -*-</span>
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">from</span> pylab <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">import</span> *
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">from</span> PIL <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">import</span> Image
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">from</span> numpy <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">import</span> *
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">from</span> scipy.ndimage <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">import</span> filters

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">print</span> <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'hello'</span>

<span class="hljs-function" style="box-sizing: border-box;"><span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">def</span> <span class="hljs-title" style="box-sizing: border-box;">compute_harris_response</span><span class="hljs-params" style="color: rgb(102, 0, 102); box-sizing: border-box;">(im,sigma=<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3</span>)</span>:</span>
    <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">""" Compute the Harris corner detector response function 
        for each pixel in a graylevel image. """</span>

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># derivatives</span>
    imx = zeros(im.shape)
    filters.gaussian_filter(im, (sigma,sigma), (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>), imx)
    imy = zeros(im.shape)
    filters.gaussian_filter(im, (sigma,sigma), (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>), imy)

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># compute components of the Harris matrix</span>
    Wxx = filters.gaussian_filter(imx*imx,sigma)
    Wxy = filters.gaussian_filter(imx*imy,sigma)
    Wyy = filters.gaussian_filter(imy*imy,sigma)

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># determinant and trace</span>
    Wdet = Wxx*Wyy - Wxy**<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>
    Wtr = Wxx + Wyy

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> Wdet / Wtr


<span class="hljs-function" style="box-sizing: border-box;"><span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">def</span> <span class="hljs-title" style="box-sizing: border-box;">get_harris_points</span><span class="hljs-params" style="color: rgb(102, 0, 102); box-sizing: border-box;">(harrisim,min_dist=<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">10</span>,threshold=<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0.1</span>)</span>:</span>
    <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">""" Return corners from a Harris response image
        min_dist is the minimum number of pixels separating 
        corners and image boundary. """</span>

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># find top corner candidates above a threshold</span>
    corner_threshold = harrisim.max() * threshold
    harrisim_t = (harrisim > corner_threshold) * <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># get coordinates of candidates</span>
    coords = array(harrisim_t.nonzero()).T

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># ...and their values</span>
    candidate_values = [harrisim[c[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>],c[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>]] <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> c <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">in</span> coords]

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># sort candidates (reverse to get descending order)</span>
    index = argsort(candidate_values)[::-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>]

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># store allowed point locations in array</span>
    allowed_locations = zeros(harrisim.shape)
    allowed_locations[min_dist:-min_dist,min_dist:-min_dist] = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># select the best points taking min_distance into account</span>
    filtered_coords = []
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> i <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">in</span> index:
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> allowed_locations[coords[i,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>],coords[i,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>]] == <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>:
            filtered_coords.append(coords[i])
            allowed_locations[(coords[i,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>]-min_dist):(coords[i,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>]+min_dist), 
                        (coords[i,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>]-min_dist):(coords[i,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>]+min_dist)] = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> filtered_coords


<span class="hljs-function" style="box-sizing: border-box;"><span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">def</span> <span class="hljs-title" style="box-sizing: border-box;">plot_harris_points</span><span class="hljs-params" style="color: rgb(102, 0, 102); box-sizing: border-box;">(image,filtered_coords)</span>:</span>
    <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">""" Plots corners found in image. """</span>

    figure()
    gray()
    imshow(image)
    plot([p[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>] <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> p <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">in</span> filtered_coords],
                [p[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>] <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> p <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">in</span> filtered_coords],<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'*'</span>)
    axis(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'off'</span>)
    show()


<span class="hljs-function" style="box-sizing: border-box;"><span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">def</span> <span class="hljs-title" style="box-sizing: border-box;">get_descriptors</span><span class="hljs-params" style="color: rgb(102, 0, 102); box-sizing: border-box;">(image,filtered_coords,wid=<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">5</span>)</span>:</span>
    <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">""" For each point return pixel values around the point
        using a neighbourhood of width 2*wid+1. (Assume points are 
        extracted with min_distance > wid). """</span>

    desc = []
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> coords <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">in</span> filtered_coords:
        patch = image[coords[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>]-wid:coords[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>]+wid+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>,
                            coords[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>]-wid:coords[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>]+wid+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>].flatten()
        desc.append(patch)

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> desc


<span class="hljs-function" style="box-sizing: border-box;"><span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">def</span> <span class="hljs-title" style="box-sizing: border-box;">match</span><span class="hljs-params" style="color: rgb(102, 0, 102); box-sizing: border-box;">(desc1,desc2,threshold=<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0.5</span>)</span>:</span>
    <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">""" For each corner point descriptor in the first image, 
        select its match to second image using
        normalized cross correlation. """</span>

    n = len(desc1[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>])

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># pair-wise distances</span>
    d = -ones((len(desc1),len(desc2)))
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> i <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">in</span> range(len(desc1)):
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> j <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">in</span> range(len(desc2)):
            d1 = (desc1[i] - mean(desc1[i])) / std(desc1[i])
            d2 = (desc2[j] - mean(desc2[j])) / std(desc2[j])
            ncc_value = sum(d1 * d2) / (n-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>) 
            <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> ncc_value > threshold:
                d[i,j] = ncc_value

    ndx = argsort(-d)
    matchscores = ndx[:,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>]

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> matchscores


<span class="hljs-function" style="box-sizing: border-box;"><span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">def</span> <span class="hljs-title" style="box-sizing: border-box;">match_twosided</span><span class="hljs-params" style="color: rgb(102, 0, 102); box-sizing: border-box;">(desc1,desc2,threshold=<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0.5</span>)</span>:</span>
    <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">""" Two-sided symmetric version of match(). """</span>

    matches_12 = match(desc1,desc2,threshold)
    matches_21 = match(desc2,desc1,threshold)

    ndx_12 = where(matches_12 >= <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>)[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>]

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># remove matches that are not symmetric</span>
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> n <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">in</span> ndx_12:
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> matches_21[matches_12[n]] != n:
            matches_12[n] = -<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> matches_12


<span class="hljs-function" style="box-sizing: border-box;"><span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">def</span> <span class="hljs-title" style="box-sizing: border-box;">appendimages</span><span class="hljs-params" style="color: rgb(102, 0, 102); box-sizing: border-box;">(im1,im2)</span>:</span>
    <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">""" Return a new image that appends the two images side-by-side. """</span>

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># select the image with the fewest rows and fill in enough empty rows</span>
    rows1 = im1.shape[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>]    
    rows2 = im2.shape[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>]

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> rows1 < rows2:
        im1 = concatenate((im1,zeros((rows2-rows1,im1.shape[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>]))),axis=<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>)
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">elif</span> rows1 > rows2:
        im2 = concatenate((im2,zeros((rows1-rows2,im2.shape[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>]))),axis=<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>)
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># if none of these cases they are equal, no filling needed.</span>

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> concatenate((im1,im2), axis=<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)


<span class="hljs-function" style="box-sizing: border-box;"><span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">def</span> <span class="hljs-title" style="box-sizing: border-box;">plot_matches</span><span class="hljs-params" style="color: rgb(102, 0, 102); box-sizing: border-box;">(im1,im2,locs1,locs2,matchscores,show_below=True)</span>:</span>
    <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">""" Show a figure with lines joining the accepted matches 
        input: im1,im2 (images as arrays), locs1,locs2 (feature locations), 
        matchscores (as output from 'match()'), 
        show_below (if images should be shown below matches). """</span>

    im3 = appendimages(im1,im2)
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> show_below:
        im3 = vstack((im3,im3))

    imshow(im3)

    cols1 = im1.shape[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>]
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> i,m <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">in</span> enumerate(matchscores):
        <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> m><span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>:
            plot([locs1[i][<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>],locs2[m][<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>]+cols1],[locs1[i][<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>],locs2[m][<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>]],<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'c'</span>)
    axis(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'off'</span>)

<span class="hljs-function" style="box-sizing: border-box;"><span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">def</span> <span class="hljs-title" style="box-sizing: border-box;">imresize</span><span class="hljs-params" style="color: rgb(102, 0, 102); box-sizing: border-box;">(im,sz)</span>:</span>
    <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"""    Resize an image array using PIL. """</span>
    pil_im = Image.fromarray(uint8(im))

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> array(pil_im.resize(sz))
<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"""
Example of detecting Harris corner points (Figure 2-1 in the book).
"""</span>

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># 读入图像</span>
im = array(Image.open(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'swan.jpg'</span>).convert(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'L'</span>))

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># 检测harris角点</span>
harrisim = compute_harris_response(im)

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># Harris响应函数</span>
harrisim1 = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">255</span> - harrisim

figure()
gray()

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#画出Harris响应图</span>
subplot(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">141</span>)
imshow(harrisim1)
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">print</span> harrisim1.shape
axis(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'off'</span>)
axis(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'equal'</span>)


threshold = [<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0.01</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0.05</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0.1</span>]
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> i, thres <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">in</span> enumerate(threshold):
    filtered_coords = get_harris_points(harrisim, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">6</span>, thres)
    subplot(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">4</span>, i+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>)
    imshow(im)
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">print</span> im.shape
    plot([p[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>] <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> p <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">in</span> filtered_coords], [p[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>] <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> p <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">in</span> filtered_coords], <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'*'</span>)
    axis(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'off'</span>)

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#原书采用的PCV中PCV harris模块</span>
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#harris.plot_harris_points(im, filtered_coords)</span>

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># plot only 200 strongest</span>
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># harris.plot_harris_points(im, filtered_coords[:200])</span>


<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># Figure 2-2下面的图</span>
im1 = array(Image.open(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"swan.jpg"</span>).convert(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"L"</span>))
im2 = array(Image.open(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"swan.jpg"</span>).convert(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"L"</span>))
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># resize to make matching faster</span>
im1 = imresize(im1, (im1.shape[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>]/<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>, im1.shape[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>]/<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>))
im2 = imresize(im2, (im2.shape[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>]/<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>, im2.shape[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>]/<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>))

wid = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">5</span>
harrisim = compute_harris_response(im1, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">5</span>)
filtered_coords1 = get_harris_points(harrisim, wid+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)
d1 = get_descriptors(im1, filtered_coords1, wid)

harrisim = compute_harris_response(im2, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">5</span>)
filtered_coords2 = get_harris_points(harrisim, wid+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)
d2 = get_descriptors(im2, filtered_coords2, wid)

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">print</span> <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'starting matching'</span>
matches = match_twosided(d1, d2)

figure()
gray() 
plot_matches(im1, im2, filtered_coords1, filtered_coords2, matches)
show()

</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li><li style="box-sizing: border-box; padding: 0px 5px;">119</li><li style="box-sizing: border-box; padding: 0px 5px;">120</li><li style="box-sizing: border-box; padding: 0px 5px;">121</li><li style="box-sizing: border-box; padding: 0px 5px;">122</li><li style="box-sizing: border-box; padding: 0px 5px;">123</li><li style="box-sizing: border-box; padding: 0px 5px;">124</li><li style="box-sizing: border-box; padding: 0px 5px;">125</li><li style="box-sizing: border-box; padding: 0px 5px;">126</li><li style="box-sizing: border-box; padding: 0px 5px;">127</li><li style="box-sizing: border-box; padding: 0px 5px;">128</li><li style="box-sizing: border-box; padding: 0px 5px;">129</li><li style="box-sizing: border-box; padding: 0px 5px;">130</li><li style="box-sizing: border-box; padding: 0px 5px;">131</li><li style="box-sizing: border-box; padding: 0px 5px;">132</li><li style="box-sizing: border-box; padding: 0px 5px;">133</li><li style="box-sizing: border-box; padding: 0px 5px;">134</li><li style="box-sizing: border-box; padding: 0px 5px;">135</li><li style="box-sizing: border-box; padding: 0px 5px;">136</li><li style="box-sizing: border-box; padding: 0px 5px;">137</li><li style="box-sizing: border-box; padding: 0px 5px;">138</li><li style="box-sizing: border-box; padding: 0px 5px;">139</li><li style="box-sizing: border-box; padding: 0px 5px;">140</li><li style="box-sizing: border-box; padding: 0px 5px;">141</li><li style="box-sizing: border-box; padding: 0px 5px;">142</li><li style="box-sizing: border-box; padding: 0px 5px;">143</li><li style="box-sizing: border-box; padding: 0px 5px;">144</li><li style="box-sizing: border-box; padding: 0px 5px;">145</li><li style="box-sizing: border-box; padding: 0px 5px;">146</li><li style="box-sizing: border-box; padding: 0px 5px;">147</li><li style="box-sizing: border-box; padding: 0px 5px;">148</li><li style="box-sizing: border-box; padding: 0px 5px;">149</li><li style="box-sizing: border-box; padding: 0px 5px;">150</li><li style="box-sizing: border-box; padding: 0px 5px;">151</li><li style="box-sizing: border-box; padding: 0px 5px;">152</li><li style="box-sizing: border-box; padding: 0px 5px;">153</li><li style="box-sizing: border-box; padding: 0px 5px;">154</li><li style="box-sizing: border-box; padding: 0px 5px;">155</li><li style="box-sizing: border-box; padding: 0px 5px;">156</li><li style="box-sizing: border-box; padding: 0px 5px;">157</li><li style="box-sizing: border-box; padding: 0px 5px;">158</li><li style="box-sizing: border-box; padding: 0px 5px;">159</li><li style="box-sizing: border-box; padding: 0px 5px;">160</li><li style="box-sizing: border-box; padding: 0px 5px;">161</li><li style="box-sizing: border-box; padding: 0px 5px;">162</li><li style="box-sizing: border-box; padding: 0px 5px;">163</li><li style="box-sizing: border-box; padding: 0px 5px;">164</li><li style="box-sizing: border-box; padding: 0px 5px;">165</li><li style="box-sizing: border-box; padding: 0px 5px;">166</li><li style="box-sizing: border-box; padding: 0px 5px;">167</li><li style="box-sizing: border-box; padding: 0px 5px;">168</li><li style="box-sizing: border-box; padding: 0px 5px;">169</li><li style="box-sizing: border-box; padding: 0px 5px;">170</li><li style="box-sizing: border-box; padding: 0px 5px;">171</li><li style="box-sizing: border-box; padding: 0px 5px;">172</li><li style="box-sizing: border-box; padding: 0px 5px;">173</li><li style="box-sizing: border-box; padding: 0px 5px;">174</li><li style="box-sizing: border-box; padding: 0px 5px;">175</li><li style="box-sizing: border-box; padding: 0px 5px;">176</li><li style="box-sizing: border-box; padding: 0px 5px;">177</li><li style="box-sizing: border-box; padding: 0px 5px;">178</li><li style="box-sizing: border-box; padding: 0px 5px;">179</li><li style="box-sizing: border-box; padding: 0px 5px;">180</li><li style="box-sizing: border-box; padding: 0px 5px;">181</li><li style="box-sizing: border-box; padding: 0px 5px;">182</li><li style="box-sizing: border-box; padding: 0px 5px;">183</li><li style="box-sizing: border-box; padding: 0px 5px;">184</li><li style="box-sizing: border-box; padding: 0px 5px;">185</li><li style="box-sizing: border-box; padding: 0px 5px;">186</li><li style="box-sizing: border-box; padding: 0px 5px;">187</li><li style="box-sizing: border-box; padding: 0px 5px;">188</li><li style="box-sizing: border-box; padding: 0px 5px;">189</li><li style="box-sizing: border-box; padding: 0px 5px;">190</li><li style="box-sizing: border-box; padding: 0px 5px;">191</li><li style="box-sizing: border-box; padding: 0px 5px;">192</li><li style="box-sizing: border-box; padding: 0px 5px;">193</li><li style="box-sizing: border-box; padding: 0px 5px;">194</li><li style="box-sizing: border-box; padding: 0px 5px;">195</li><li style="box-sizing: border-box; padding: 0px 5px;">196</li><li style="box-sizing: border-box; padding: 0px 5px;">197</li><li style="box-sizing: border-box; padding: 0px 5px;">198</li><li style="box-sizing: border-box; padding: 0px 5px;">199</li><li style="box-sizing: border-box; padding: 0px 5px;">200</li><li style="box-sizing: border-box; padding: 0px 5px;">201</li><li style="box-sizing: border-box; padding: 0px 5px;">202</li><li style="box-sizing: border-box; padding: 0px 5px;">203</li><li style="box-sizing: border-box; padding: 0px 5px;">204</li><li style="box-sizing: border-box; padding: 0px 5px;">205</li><li style="box-sizing: border-box; padding: 0px 5px;">206</li><li style="box-sizing: border-box; padding: 0px 5px;">207</li><li style="box-sizing: border-box; padding: 0px 5px;">208</li><li style="box-sizing: border-box; padding: 0px 5px;">209</li><li style="box-sizing: border-box; padding: 0px 5px;">210</li><li style="box-sizing: border-box; padding: 0px 5px;">211</li><li style="box-sizing: border-box; padding: 0px 5px;">212</li><li style="box-sizing: border-box; padding: 0px 5px;">213</li><li style="box-sizing: border-box; padding: 0px 5px;">214</li><li style="box-sizing: border-box; padding: 0px 5px;">215</li><li style="box-sizing: border-box; padding: 0px 5px;">216</li><li style="box-sizing: border-box; padding: 0px 5px;">217</li><li style="box-sizing: border-box; padding: 0px 5px;">218</li><li style="box-sizing: border-box; padding: 0px 5px;">219</li><li style="box-sizing: border-box; padding: 0px 5px;">220</li><li style="box-sizing: border-box; padding: 0px 5px;">221</li><li style="box-sizing: border-box; padding: 0px 5px;">222</li><li style="box-sizing: border-box; padding: 0px 5px;">223</li><li style="box-sizing: border-box; padding: 0px 5px;">224</li><li style="box-sizing: border-box; padding: 0px 5px;">225</li><li style="box-sizing: border-box; padding: 0px 5px;">226</li><li style="box-sizing: border-box; padding: 0px 5px;">227</li><li style="box-sizing: border-box; padding: 0px 5px;">228</li><li style="box-sizing: border-box; padding: 0px 5px;">229</li><li style="box-sizing: border-box; padding: 0px 5px;">230</li><li style="box-sizing: border-box; padding: 0px 5px;">231</li><li style="box-sizing: border-box; padding: 0px 5px;">232</li><li style="box-sizing: border-box; padding: 0px 5px;">233</li></ul><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li><li style="box-sizing: border-box; padding: 0px 5px;">117</li><li style="box-sizing: border-box; padding: 0px 5px;">118</li><li style="box-sizing: border-box; padding: 0px 5px;">119</li><li style="box-sizing: border-box; padding: 0px 5px;">120</li><li style="box-sizing: border-box; padding: 0px 5px;">121</li><li style="box-sizing: border-box; padding: 0px 5px;">122</li><li style="box-sizing: border-box; padding: 0px 5px;">123</li><li style="box-sizing: border-box; padding: 0px 5px;">124</li><li style="box-sizing: border-box; padding: 0px 5px;">125</li><li style="box-sizing: border-box; padding: 0px 5px;">126</li><li style="box-sizing: border-box; padding: 0px 5px;">127</li><li style="box-sizing: border-box; padding: 0px 5px;">128</li><li style="box-sizing: border-box; padding: 0px 5px;">129</li><li style="box-sizing: border-box; padding: 0px 5px;">130</li><li style="box-sizing: border-box; padding: 0px 5px;">131</li><li style="box-sizing: border-box; padding: 0px 5px;">132</li><li style="box-sizing: border-box; padding: 0px 5px;">133</li><li style="box-sizing: border-box; padding: 0px 5px;">134</li><li style="box-sizing: border-box; padding: 0px 5px;">135</li><li style="box-sizing: border-box; padding: 0px 5px;">136</li><li style="box-sizing: border-box; padding: 0px 5px;">137</li><li style="box-sizing: border-box; padding: 0px 5px;">138</li><li style="box-sizing: border-box; padding: 0px 5px;">139</li><li style="box-sizing: border-box; padding: 0px 5px;">140</li><li style="box-sizing: border-box; padding: 0px 5px;">141</li><li style="box-sizing: border-box; padding: 0px 5px;">142</li><li style="box-sizing: border-box; padding: 0px 5px;">143</li><li style="box-sizing: border-box; padding: 0px 5px;">144</li><li style="box-sizing: border-box; padding: 0px 5px;">145</li><li style="box-sizing: border-box; padding: 0px 5px;">146</li><li style="box-sizing: border-box; padding: 0px 5px;">147</li><li style="box-sizing: border-box; padding: 0px 5px;">148</li><li style="box-sizing: border-box; padding: 0px 5px;">149</li><li style="box-sizing: border-box; padding: 0px 5px;">150</li><li style="box-sizing: border-box; padding: 0px 5px;">151</li><li style="box-sizing: border-box; padding: 0px 5px;">152</li><li style="box-sizing: border-box; padding: 0px 5px;">153</li><li style="box-sizing: border-box; padding: 0px 5px;">154</li><li style="box-sizing: border-box; padding: 0px 5px;">155</li><li style="box-sizing: border-box; padding: 0px 5px;">156</li><li style="box-sizing: border-box; padding: 0px 5px;">157</li><li style="box-sizing: border-box; padding: 0px 5px;">158</li><li style="box-sizing: border-box; padding: 0px 5px;">159</li><li style="box-sizing: border-box; padding: 0px 5px;">160</li><li style="box-sizing: border-box; padding: 0px 5px;">161</li><li style="box-sizing: border-box; padding: 0px 5px;">162</li><li style="box-sizing: border-box; padding: 0px 5px;">163</li><li style="box-sizing: border-box; padding: 0px 5px;">164</li><li style="box-sizing: border-box; padding: 0px 5px;">165</li><li style="box-sizing: border-box; padding: 0px 5px;">166</li><li style="box-sizing: border-box; padding: 0px 5px;">167</li><li style="box-sizing: border-box; padding: 0px 5px;">168</li><li style="box-sizing: border-box; padding: 0px 5px;">169</li><li style="box-sizing: border-box; padding: 0px 5px;">170</li><li style="box-sizing: border-box; padding: 0px 5px;">171</li><li style="box-sizing: border-box; padding: 0px 5px;">172</li><li style="box-sizing: border-box; padding: 0px 5px;">173</li><li style="box-sizing: border-box; padding: 0px 5px;">174</li><li style="box-sizing: border-box; padding: 0px 5px;">175</li><li style="box-sizing: border-box; padding: 0px 5px;">176</li><li style="box-sizing: border-box; padding: 0px 5px;">177</li><li style="box-sizing: border-box; padding: 0px 5px;">178</li><li style="box-sizing: border-box; padding: 0px 5px;">179</li><li style="box-sizing: border-box; padding: 0px 5px;">180</li><li style="box-sizing: border-box; padding: 0px 5px;">181</li><li style="box-sizing: border-box; padding: 0px 5px;">182</li><li style="box-sizing: border-box; padding: 0px 5px;">183</li><li style="box-sizing: border-box; padding: 0px 5px;">184</li><li style="box-sizing: border-box; padding: 0px 5px;">185</li><li style="box-sizing: border-box; padding: 0px 5px;">186</li><li style="box-sizing: border-box; padding: 0px 5px;">187</li><li style="box-sizing: border-box; padding: 0px 5px;">188</li><li style="box-sizing: border-box; padding: 0px 5px;">189</li><li style="box-sizing: border-box; padding: 0px 5px;">190</li><li style="box-sizing: border-box; padding: 0px 5px;">191</li><li style="box-sizing: border-box; padding: 0px 5px;">192</li><li style="box-sizing: border-box; padding: 0px 5px;">193</li><li style="box-sizing: border-box; padding: 0px 5px;">194</li><li style="box-sizing: border-box; padding: 0px 5px;">195</li><li style="box-sizing: border-box; padding: 0px 5px;">196</li><li style="box-sizing: border-box; padding: 0px 5px;">197</li><li style="box-sizing: border-box; padding: 0px 5px;">198</li><li style="box-sizing: border-box; padding: 0px 5px;">199</li><li style="box-sizing: border-box; padding: 0px 5px;">200</li><li style="box-sizing: border-box; padding: 0px 5px;">201</li><li style="box-sizing: border-box; padding: 0px 5px;">202</li><li style="box-sizing: border-box; padding: 0px 5px;">203</li><li style="box-sizing: border-box; padding: 0px 5px;">204</li><li style="box-sizing: border-box; padding: 0px 5px;">205</li><li style="box-sizing: border-box; padding: 0px 5px;">206</li><li style="box-sizing: border-box; padding: 0px 5px;">207</li><li style="box-sizing: border-box; padding: 0px 5px;">208</li><li style="box-sizing: border-box; padding: 0px 5px;">209</li><li style="box-sizing: border-box; padding: 0px 5px;">210</li><li style="box-sizing: border-box; padding: 0px 5px;">211</li><li style="box-sizing: border-box; padding: 0px 5px;">212</li><li style="box-sizing: border-box; padding: 0px 5px;">213</li><li style="box-sizing: border-box; padding: 0px 5px;">214</li><li style="box-sizing: border-box; padding: 0px 5px;">215</li><li style="box-sizing: border-box; padding: 0px 5px;">216</li><li style="box-sizing: border-box; padding: 0px 5px;">217</li><li style="box-sizing: border-box; padding: 0px 5px;">218</li><li style="box-sizing: border-box; padding: 0px 5px;">219</li><li style="box-sizing: border-box; padding: 0px 5px;">220</li><li style="box-sizing: border-box; padding: 0px 5px;">221</li><li style="box-sizing: border-box; padding: 0px 5px;">222</li><li style="box-sizing: border-box; padding: 0px 5px;">223</li><li style="box-sizing: border-box; padding: 0px 5px;">224</li><li style="box-sizing: border-box; padding: 0px 5px;">225</li><li style="box-sizing: border-box; padding: 0px 5px;">226</li><li style="box-sizing: border-box; padding: 0px 5px;">227</li><li style="box-sizing: border-box; padding: 0px 5px;">228</li><li style="box-sizing: border-box; padding: 0px 5px;">229</li><li style="box-sizing: border-box; padding: 0px 5px;">230</li><li style="box-sizing: border-box; padding: 0px 5px;">231</li><li style="box-sizing: border-box; padding: 0px 5px;">232</li><li style="box-sizing: border-box; padding: 0px 5px;">233</li></ul>

OpenCV函数cv2.cornerHarris() 有四个参数 其作用分别为 :

img - Input image, it should be grayscale and float32 type. 
blockSize - It is the size of neighbourhood considered for corner detection 
ksize - Aperture parameter of Sobel derivative used. 
k - Harris detector free parameter in the equation.

当然可以使用OpenCV在亚像素上提高算法的精度，使用函数cv2.cornerSubPix()，不过应该使用最新版的OpenCV 我电脑上是2.4.9版本，好像文档[2]中的代码没有调试通过， 
下面是OpenCV代码的效果： 

代码：

<code class="hljs python has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># -*- coding: utf-8 -*-</span>
<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"""
Created on Sat Jun 11 23:21:18 2016

@author: season
"""</span>

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">import</span> cv2
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">import</span> numpy <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">as</span> np


filename = <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'swan.jpg'</span>
img = cv2.imread(filename)
gray = cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)

gray = np.float32(gray)
dst = cv2.cornerHarris(gray,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0.04</span>)

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#result is dilated for marking the corners, not important</span>
dst = cv2.dilate(dst,<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">None</span>)

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># Threshold for an optimal value, it may vary depending on the image.</span>
img[dst><span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0.01</span>*dst.max()]=[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">255</span>]

cv2.imshow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'dst'</span>,img)
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> cv2.waitKey(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>) & <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0xff</span> == <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">27</span>:
    cv2.destroyAllWindows()</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li></ul><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li></ul>

测试OpenCV，numpy模块的代码：

<code class="hljs lua has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;">#test cv2 <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">and</span> numpy <span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">package</span>
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">print</span> cv2.__version__
a = np.arange(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">10</span>)
<span class="hljs-built_in" style="color: rgb(102, 0, 102); box-sizing: border-box;">print</span>(a)</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li></ul><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li></ul>

2.sift特征

在Harris角点中对于下图所示的特征，小窗口中可能认为是角点，当窗口尺寸变化，则可能检测不到角点。 
 
2004年提出的Scale Invariant Feature Transform (SIFT) 是改进的基于尺度不变的特征检测器。

SIFT特征包括兴趣点检测器和描述子，它对于尺度，旋转和亮度都具有不变性。

有下面四个步骤 
1. Scale-space Extrema Detection 
2. Keypoint Localization 
3. Orientation Assignment 
4. Keypoint Descriptor 
5. Keypoint Matching

sift特征点检测效果： 
 
sift的OpenCV代码比较简单：

<code class="hljs python has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># -*- coding: utf-8 -*-</span>
<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"""
Created on Sat Jun 11 20:22:51 2016

@author: season
"""</span>

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">import</span> cv2

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">import</span> numpy <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">as</span> np
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#import pdb</span>
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#pdb.set_trace()#turn on the pdb prompt</span>

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#test cv2 and numpy package</span>
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">print</span> cv2.__version__
a = np.arange(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">10</span>)
print(a)

img = cv2.imread(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'swan.jpg'</span>)
gray= cv2.cvtColor(img,cv2.COLOR_BGR2GRAY)

sift = cv2.SIFT()
kp = sift.detect(gray,<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">None</span>)

img=cv2.drawKeypoints(gray,kp)

cv2.imwrite(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'sift_keypoints.jpg'</span>,img)
cv2.imshow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"sift_keypoint"</span>,img)
cv2.waitKey(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>)
cv2.destroyAllWindows()</code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li></ul><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li></ul>

3.SURF特征点

In 2006, three people, Bay, H., Tuytelaars, T. and Van Gool, L, published another paper, “SURF: Speeded Up Robust Features” which introduced a new algorithm called SURF. As name suggests, it is a speeded-up version of SIFT. 
在SURF算法中，特征点的判据为某像素亮度的Hessian矩阵的行列式(Dxx*Dyy-Dxy*Dxy)为一个极值。由于Hessian矩阵的计算需要用到偏导数的计算，这一般通过像素点亮度值与高斯核的某一方向偏导数卷积而成；在SURF算法里，为提高算法运行速度，在精度影响很小的情况下，用近似的盒状滤波器（0，1，1组成的box filter）代替高斯核。因为滤波器仅有0，-1,1，因此卷积的计算可以用积分图像（Integral image）来优化（O(1)的时间复杂度），大大提高了效率。 
Surf在速度上比sift要快许多，这主要得益于它的积分图技术，已经Hessian矩阵的利用减少了降采样过程，另外它得到的特征向量维数也比较少，有利于更快的进行特征点匹配。

基于surf的人脸识别：

<code class="hljs python has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># -*- coding: utf-8 -*-</span>
<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"""
Created on Wed Jun 15 22:05:44 2016

@author: Administrator
"""</span>
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">import</span> cv2


<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">import</span> numpy

opencv_haystack =cv2.imread(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'woman.jpg'</span>)
opencv_needle =cv2.imread(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'face.jpg'</span>)

ngrey = cv2.cvtColor(opencv_needle, cv2.COLOR_BGR2GRAY)
hgrey = cv2.cvtColor(opencv_haystack, cv2.COLOR_BGR2GRAY)

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># build feature detector and descriptor extractor</span>
hessian_threshold = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">85</span>
detector = cv2.SURF(hessian_threshold)
(hkeypoints, hdescriptors) = detector.detect(hgrey, <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">None</span>, useProvidedKeypoints = <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">False</span>)
(nkeypoints, ndescriptors) = detector.detect(ngrey, <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">None</span>, useProvidedKeypoints = <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">False</span>)

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># extract vectors of size 64 from raw descriptors numpy arrays</span>
rowsize = len(hdescriptors) / len(hkeypoints)
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> rowsize > <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>:
    hrows = numpy.array(hdescriptors, dtype = numpy.float32).reshape((-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>, rowsize))
    nrows = numpy.array(ndescriptors, dtype = numpy.float32).reshape((-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>, rowsize))
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#print hrows.shape, nrows.shape</span>
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span>:
    hrows = numpy.array(hdescriptors, dtype = numpy.float32)
    nrows = numpy.array(ndescriptors, dtype = numpy.float32)
    rowsize = len(hrows[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>])

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># kNN training - learn mapping from hrow to hkeypoints index</span>
samples = hrows
responses = numpy.arange(len(hkeypoints), dtype = numpy.float32)
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#print len(samples), len(responses)</span>
knn = cv2.KNearest()
knn.train(samples,responses)

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># retrieve index and value through enumeration</span>
count = <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> i, descriptor <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">in</span> enumerate(nrows):
    descriptor = numpy.array(descriptor, dtype = numpy.float32).reshape((<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>, rowsize))
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#print i, descriptor.shape, samples[0].shape</span>
    retval, results, neigh_resp, dists = knn.find_nearest(descriptor, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)
    res, dist =  int(results[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>][<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>]), dists[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>][<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>]
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#print res, dist</span>

    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> dist < <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0.1</span>:
        count = count+<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>
        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># draw matched keypoints in red color</span>
        color = (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">255</span>)
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#    else:</span>
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#        # draw unmatched in blue color</span>
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#        color = (255, 0, 0)</span>
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># draw matched key points on haystack image</span>
        x,y = hkeypoints[res].pt
        center = (int(x),int(y))
        cv2.circle(opencv_haystack,center,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>,color,-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)
        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># draw matched key points on needle image</span>
        x,y = nkeypoints[i].pt
        center = (int(x),int(y))
        cv2.circle(opencv_needle,center,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">2</span>,color,-<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)


cv2.imshow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Input Image"</span>, opencv_haystack)
cv2.waitKey(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>)
cv2.imshow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"The match Result"</span>, opencv_needle)
cv2.waitKey(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>)

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">print</span> count
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> count><span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">40</span>:
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">print</span> <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"Yes Success!"</span>
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">else</span>:
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">print</span> <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"False Face!"</span>
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#cv2.waitKey(0)</span>
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#cv2.destroyAllWindows()</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li></ul><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li></ul>

4.ORB特征

一种新的具有局部不变性的特征 —— ORB特征，从它的名字中可以看出它是对FAST特征点与BREIF特征描述子的一种结合与改进，这个算法是由Ethan Rublee,Vincent Rabaud,Kurt Konolige以及Gary R.Bradski在2011年一篇名为“ORB：An Efficient Alternative to SIFT or SURF”的文章中提出。就像文章题目所写一样，ORB是除了SIFT与SURF外一个很好的选择，而且它有很高的效率，最重要的一点是它是免费的，SIFT与SURF都是有专利的，你如果在商业软件中使用，需要购买许可。

实现效果： 

代码：

<code class="hljs python has-numbering" style="display: block; padding: 0px; color: inherit; box-sizing: border-box; font-family: 'Source Code Pro', monospace;font-size:undefined; white-space: pre; border-radius: 0px; word-wrap: normal; background: transparent;"><span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># -*- coding: utf-8 -*-</span>
<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"""
Created on Thu Jun 16 11:11:18 2016

@author: Administrator
"""</span>

<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">import</span> numpy <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">as</span> np
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">import</span> cv2
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#from matplotlib import pyplot as plt</span>
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">print</span> cv2.__version__


img1 = cv2.imread(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'woman.jpg'</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>)          <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># queryImage</span>
img2 = cv2.imread(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'face.jpg'</span>,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>) <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># trainImage</span>
<span class="hljs-function" style="box-sizing: border-box;"><span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">def</span> <span class="hljs-title" style="box-sizing: border-box;">drawMatches</span><span class="hljs-params" style="color: rgb(102, 0, 102); box-sizing: border-box;">(img1, kp1, img2, kp2, matches)</span>:</span>
    <span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">"""
    My own implementation of cv2.drawMatches as OpenCV 2.4.9
    does not have this function available but it's supported in
    OpenCV 3.0.0

    This function takes in two images with their associated 
    keypoints, as well as a list of DMatch data structure (matches) 
    that contains which keypoints matched in which images.

    An image will be produced where a montage is shown with
    the first image followed by the second image beside it.

    Keypoints are delineated with circles, while lines are connected
    between matching keypoints.

    img1,img2 - Grayscale images
    kp1,kp2 - Detected list of keypoints through any of the OpenCV keypoint 
              detection algorithms
    matches - A list of matches of corresponding keypoints through any
              OpenCV keypoint matching algorithm
    """</span>

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># Create a new output image that concatenates the two images together</span>
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># (a.k.a) a montage</span>
    rows1 = img1.shape[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>]
    cols1 = img1.shape[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>]
    rows2 = img2.shape[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>]
    cols2 = img2.shape[<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>]

    out = np.zeros((max([rows1,rows2]),cols1+cols2,<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">3</span>), dtype=<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'uint8'</span>)

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># Place the first image to the left</span>
    out[:rows1,:cols1] = np.dstack([img1, img1, img1])

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># Place the next image to the right of it</span>
    out[:rows2,cols1:] = np.dstack([img2, img2, img2])

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># For each pair of points we have between both images</span>
    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># draw circles, then connect a line between them</span>
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">for</span> mat <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">in</span> matches:

        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># Get the matching keypoints for each of the images</span>
        img1_idx = mat.queryIdx
        img2_idx = mat.trainIdx

        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># x - columns</span>
        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># y - rows</span>
        (x1,y1) = kp1[img1_idx].pt
        (x2,y2) = kp2[img2_idx].pt

        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># Draw a small circle at both co-ordinates</span>
        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># radius 4</span>
        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># colour blue</span>
        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># thickness = 1</span>
        cv2.circle(out, (int(x1),int(y1)), <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">4</span>, (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">255</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>), <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)   
        cv2.circle(out, (int(x2)+cols1,int(y2)), <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">4</span>, (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">255</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>), <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)

        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># Draw a line in between the two points</span>
        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># thickness = 1</span>
        <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># colour blue</span>
        cv2.line(out, (int(x1),int(y1)), (int(x2)+cols1,int(y2)), (<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">255</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>, <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>), <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">1</span>)


    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># Show the image</span>
    cv2.imshow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'Matched Features'</span>, out)
    cv2.waitKey(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>)
    cv2.destroyWindow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'Matched Features'</span>)

    <span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># Also return the image if you'd like a copy</span>
    <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">return</span> out

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># Initiate SIFT detector</span>
orb = cv2.ORB()

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># find the keypoints and descriptors with SIFT</span>
kp1, des1 = orb.detectAndCompute(img1,<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">None</span>)
kp2, des2 = orb.detectAndCompute(img2,<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">None</span>)
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># create BFMatcher object</span>
bf = cv2.BFMatcher(cv2.NORM_HAMMING, crossCheck=<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">True</span>)

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># Match descriptors.</span>
matches = bf.match(des1,des2)

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># Sort them in the order of their distance.</span>
matches = sorted(matches, key = <span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">lambda</span> x:x.distance)

<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;"># Draw first 10 matches.</span>
img3 = drawMatches(img1,kp1,img2,kp2,matches[:<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">10</span>])

cv2.imshow(<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'dst'</span>,img3)
<span class="hljs-keyword" style="color: rgb(0, 0, 136); box-sizing: border-box;">if</span> cv2.waitKey(<span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0</span>) & <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">0xff</span> == <span class="hljs-number" style="color: rgb(0, 102, 102); box-sizing: border-box;">27</span>:
    cv2.destroyAllWindows()
<span class="hljs-comment" style="color: rgb(136, 0, 0); box-sizing: border-box;">#plt.imshow(img3),plt.show()</span>


<span class="hljs-string" style="color: rgb(0, 136, 0); box-sizing: border-box;">'''
draw match 函数在下面的链接中有自己的实现，我直接复制过来了

http://stackoverflow.com/questions/20259025/module-object-has-no-attribute-drawmatches-opencv-python
'''</span></code><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li></ul><ul class="pre-numbering" style="box-sizing: border-box; position: absolute; width: 50px; top: 0px; left: 0px; margin: 0px; padding: 6px 0px 40px; border-right-width: 1px; border-right-style: solid; border-right-color: rgb(221, 221, 221); list-style: none; text-align: right; background-color: rgb(238, 238, 238);"><li style="box-sizing: border-box; padding: 0px 5px;">1</li><li style="box-sizing: border-box; padding: 0px 5px;">2</li><li style="box-sizing: border-box; padding: 0px 5px;">3</li><li style="box-sizing: border-box; padding: 0px 5px;">4</li><li style="box-sizing: border-box; padding: 0px 5px;">5</li><li style="box-sizing: border-box; padding: 0px 5px;">6</li><li style="box-sizing: border-box; padding: 0px 5px;">7</li><li style="box-sizing: border-box; padding: 0px 5px;">8</li><li style="box-sizing: border-box; padding: 0px 5px;">9</li><li style="box-sizing: border-box; padding: 0px 5px;">10</li><li style="box-sizing: border-box; padding: 0px 5px;">11</li><li style="box-sizing: border-box; padding: 0px 5px;">12</li><li style="box-sizing: border-box; padding: 0px 5px;">13</li><li style="box-sizing: border-box; padding: 0px 5px;">14</li><li style="box-sizing: border-box; padding: 0px 5px;">15</li><li style="box-sizing: border-box; padding: 0px 5px;">16</li><li style="box-sizing: border-box; padding: 0px 5px;">17</li><li style="box-sizing: border-box; padding: 0px 5px;">18</li><li style="box-sizing: border-box; padding: 0px 5px;">19</li><li style="box-sizing: border-box; padding: 0px 5px;">20</li><li style="box-sizing: border-box; padding: 0px 5px;">21</li><li style="box-sizing: border-box; padding: 0px 5px;">22</li><li style="box-sizing: border-box; padding: 0px 5px;">23</li><li style="box-sizing: border-box; padding: 0px 5px;">24</li><li style="box-sizing: border-box; padding: 0px 5px;">25</li><li style="box-sizing: border-box; padding: 0px 5px;">26</li><li style="box-sizing: border-box; padding: 0px 5px;">27</li><li style="box-sizing: border-box; padding: 0px 5px;">28</li><li style="box-sizing: border-box; padding: 0px 5px;">29</li><li style="box-sizing: border-box; padding: 0px 5px;">30</li><li style="box-sizing: border-box; padding: 0px 5px;">31</li><li style="box-sizing: border-box; padding: 0px 5px;">32</li><li style="box-sizing: border-box; padding: 0px 5px;">33</li><li style="box-sizing: border-box; padding: 0px 5px;">34</li><li style="box-sizing: border-box; padding: 0px 5px;">35</li><li style="box-sizing: border-box; padding: 0px 5px;">36</li><li style="box-sizing: border-box; padding: 0px 5px;">37</li><li style="box-sizing: border-box; padding: 0px 5px;">38</li><li style="box-sizing: border-box; padding: 0px 5px;">39</li><li style="box-sizing: border-box; padding: 0px 5px;">40</li><li style="box-sizing: border-box; padding: 0px 5px;">41</li><li style="box-sizing: border-box; padding: 0px 5px;">42</li><li style="box-sizing: border-box; padding: 0px 5px;">43</li><li style="box-sizing: border-box; padding: 0px 5px;">44</li><li style="box-sizing: border-box; padding: 0px 5px;">45</li><li style="box-sizing: border-box; padding: 0px 5px;">46</li><li style="box-sizing: border-box; padding: 0px 5px;">47</li><li style="box-sizing: border-box; padding: 0px 5px;">48</li><li style="box-sizing: border-box; padding: 0px 5px;">49</li><li style="box-sizing: border-box; padding: 0px 5px;">50</li><li style="box-sizing: border-box; padding: 0px 5px;">51</li><li style="box-sizing: border-box; padding: 0px 5px;">52</li><li style="box-sizing: border-box; padding: 0px 5px;">53</li><li style="box-sizing: border-box; padding: 0px 5px;">54</li><li style="box-sizing: border-box; padding: 0px 5px;">55</li><li style="box-sizing: border-box; padding: 0px 5px;">56</li><li style="box-sizing: border-box; padding: 0px 5px;">57</li><li style="box-sizing: border-box; padding: 0px 5px;">58</li><li style="box-sizing: border-box; padding: 0px 5px;">59</li><li style="box-sizing: border-box; padding: 0px 5px;">60</li><li style="box-sizing: border-box; padding: 0px 5px;">61</li><li style="box-sizing: border-box; padding: 0px 5px;">62</li><li style="box-sizing: border-box; padding: 0px 5px;">63</li><li style="box-sizing: border-box; padding: 0px 5px;">64</li><li style="box-sizing: border-box; padding: 0px 5px;">65</li><li style="box-sizing: border-box; padding: 0px 5px;">66</li><li style="box-sizing: border-box; padding: 0px 5px;">67</li><li style="box-sizing: border-box; padding: 0px 5px;">68</li><li style="box-sizing: border-box; padding: 0px 5px;">69</li><li style="box-sizing: border-box; padding: 0px 5px;">70</li><li style="box-sizing: border-box; padding: 0px 5px;">71</li><li style="box-sizing: border-box; padding: 0px 5px;">72</li><li style="box-sizing: border-box; padding: 0px 5px;">73</li><li style="box-sizing: border-box; padding: 0px 5px;">74</li><li style="box-sizing: border-box; padding: 0px 5px;">75</li><li style="box-sizing: border-box; padding: 0px 5px;">76</li><li style="box-sizing: border-box; padding: 0px 5px;">77</li><li style="box-sizing: border-box; padding: 0px 5px;">78</li><li style="box-sizing: border-box; padding: 0px 5px;">79</li><li style="box-sizing: border-box; padding: 0px 5px;">80</li><li style="box-sizing: border-box; padding: 0px 5px;">81</li><li style="box-sizing: border-box; padding: 0px 5px;">82</li><li style="box-sizing: border-box; padding: 0px 5px;">83</li><li style="box-sizing: border-box; padding: 0px 5px;">84</li><li style="box-sizing: border-box; padding: 0px 5px;">85</li><li style="box-sizing: border-box; padding: 0px 5px;">86</li><li style="box-sizing: border-box; padding: 0px 5px;">87</li><li style="box-sizing: border-box; padding: 0px 5px;">88</li><li style="box-sizing: border-box; padding: 0px 5px;">89</li><li style="box-sizing: border-box; padding: 0px 5px;">90</li><li style="box-sizing: border-box; padding: 0px 5px;">91</li><li style="box-sizing: border-box; padding: 0px 5px;">92</li><li style="box-sizing: border-box; padding: 0px 5px;">93</li><li style="box-sizing: border-box; padding: 0px 5px;">94</li><li style="box-sizing: border-box; padding: 0px 5px;">95</li><li style="box-sizing: border-box; padding: 0px 5px;">96</li><li style="box-sizing: border-box; padding: 0px 5px;">97</li><li style="box-sizing: border-box; padding: 0px 5px;">98</li><li style="box-sizing: border-box; padding: 0px 5px;">99</li><li style="box-sizing: border-box; padding: 0px 5px;">100</li><li style="box-sizing: border-box; padding: 0px 5px;">101</li><li style="box-sizing: border-box; padding: 0px 5px;">102</li><li style="box-sizing: border-box; padding: 0px 5px;">103</li><li style="box-sizing: border-box; padding: 0px 5px;">104</li><li style="box-sizing: border-box; padding: 0px 5px;">105</li><li style="box-sizing: border-box; padding: 0px 5px;">106</li><li style="box-sizing: border-box; padding: 0px 5px;">107</li><li style="box-sizing: border-box; padding: 0px 5px;">108</li><li style="box-sizing: border-box; padding: 0px 5px;">109</li><li style="box-sizing: border-box; padding: 0px 5px;">110</li><li style="box-sizing: border-box; padding: 0px 5px;">111</li><li style="box-sizing: border-box; padding: 0px 5px;">112</li><li style="box-sizing: border-box; padding: 0px 5px;">113</li><li style="box-sizing: border-box; padding: 0px 5px;">114</li><li style="box-sizing: border-box; padding: 0px 5px;">115</li><li style="box-sizing: border-box; padding: 0px 5px;">116</li></ul>

未完待续

参考文献

[1]http://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_feature2d/py_table_of_contents_feature2d/py_table_of_contents_feature2d.html 
[2]http://opencv-python-tutroals.readthedocs.io/en/latest/py_tutorials/py_feature2d/py_features_harris/py_features_harris.html#exercises