opencv 32.平面对象识别

  平面对象识别就是将通过BF、Flann匹配器匹配的特征表示出来，通过矩形或其他形状框出匹配出的物体。主要用到两个API:
1、findHomography（） ------>发现两个平面的透视变幻，生成透视变换矩阵
2、perspectiveTransform() ---------->透视变换
因为拍摄的照片因为角度问题而导致轮廓可能是这样的：

现在通过透视变换变成这样子：

1.findHomography( )

Mat findHomography( 
InputArray srcPoints, //原始平面中点的坐标
InputArray dstPoints, //目标平面中点的坐标
int method = 0, //用于计算单应性矩阵的方法
double ransacReprojThreshold = 3, 
OutputArray mask=noArray(), //通过鲁棒法（RANSAC或LMEDS）设置的可选输出掩码
const int maxIters = 2000, //RANSAC迭代的最大次数，2000是它可以达到的最大值
const double confidence = 0.995 //置信度
);

用于计算单应性矩阵的方法有：
0 ：使用所有点的常规方法；
RANSAC：基于RANSAC的鲁棒法；
LMEDS ：最小中值鲁棒法；
RHO ：基于PROSAC的鲁棒法；

算子得到的结果即下面的H

2.perspectiveTransform(）

void perspectiveTransform(
InputArray src, //输入双通道或三通道浮点数组/图像
OutputArray dst, //输出与src相同大小和类型的数组/图像
InputArray m //3x3或4x4浮点转换矩阵
);

DEMO:

//30 平面对象识别
void StartOp2::ImageProcess2_30()
{
	Mat img1 = imread("../../Images/22.jpg", IMREAD_GRAYSCALE);
	Mat img2 = imread("../../Images/23.jpg", IMREAD_GRAYSCALE);
	if (!img1.data || !img2.data) {

	}
	imshow("image1", img1);
	imshow("image2", img2);

	// extraction surf featurs 
	int minHessian = 400;
	Ptr<SURF>  detector = SURF::create(minHessian);
	vector<KeyPoint> keypoints_obj;
	vector<KeyPoint> keypoints_scence;
	Mat descriptor_obj, descript_scence;
	detector->detectAndCompute(img1, Mat(), keypoints_obj, descriptor_obj);
	detector->detectAndCompute(img2, Mat(), keypoints_scence, descript_scence);

	//matching 
	FlannBasedMatcher matcher;
	vector<DMatch> matches;
	matcher.match(descriptor_obj, descript_scence, matches);

	//find good matched points
	double minDist = 1000;
	double maxDist = 0;
	for (int i=0; i<descriptor_obj.rows;i++)
	{
		double dist = matches[i].distance;
		if (dist > maxDist) {
			maxDist = dist;
		}
		if (dist < minDist) {
			minDist = dist;
		}
	}

	printf("max distance : %f\n", maxDist);
	printf("min distance : %f\n", minDist);

	vector<DMatch> goodMatches;
	for (int i = 0; i < descriptor_obj.rows; i++) {
		double dist = matches[i].distance;
		if (dist < max(3 * minDist, 0.02)) {
			goodMatches.push_back(matches[i]);
		}
	}


	Mat matchesImg;
	drawMatches(img1, keypoints_obj, img2, keypoints_scence, goodMatches, matchesImg, Scalar::all(-1),
		Scalar::all(-1), vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS
	);


	vector<Point2f> obj;
	vector<Point2f> objInScene;
	//int queryIdx –>是测试图像的特征点描述符（descriptor）的下标，同时也是描述符对应特征点（keypoint)的下标。

	//int trainIdx – > 是样本图像的特征点描述符的下标，同样也是相应的特征点的下标。
	for (size_t t = 0; t < goodMatches.size(); t++) {
		obj.push_back(keypoints_obj[goodMatches[t].queryIdx].pt);
		objInScene.push_back(keypoints_scence[goodMatches[t].trainIdx].pt);
	}
	Mat H = findHomography(obj, objInScene, RANSAC);

	vector<Point2f> obj_corners(4);
	vector<Point2f> scene_corners(4);
	obj_corners[0] = Point(0, 0);
	obj_corners[1] = Point(img1.cols, 0);
	obj_corners[2] = Point(img1.cols, img1.rows);
	obj_corners[3] = Point(0, img1.rows);
	perspectiveTransform(obj_corners, scene_corners, H);

	// draw line
	line(matchesImg, scene_corners[0] + Point2f(img1.cols, 0), scene_corners[1] + Point2f(img1.cols, 0), Scalar(0, 0, 255), 2, 8, 0);
	line(matchesImg, scene_corners[1] + Point2f(img1.cols, 0), scene_corners[2] + Point2f(img1.cols, 0), Scalar(0, 0, 255), 2, 8, 0);
	line(matchesImg, scene_corners[2] + Point2f(img1.cols, 0), scene_corners[3] + Point2f(img1.cols, 0), Scalar(0, 0, 255), 2, 8, 0);
	line(matchesImg, scene_corners[3] + Point2f(img1.cols, 0), scene_corners[0] + Point2f(img1.cols, 0), Scalar(0, 0, 255), 2, 8, 0);

	Mat dst;
	cvtColor(img2, dst, COLOR_GRAY2BGR);
	line(dst, scene_corners[0], scene_corners[1], Scalar(0, 0, 255), 2, 8, 0);
	line(dst, scene_corners[1], scene_corners[2], Scalar(0, 0, 255), 2, 8, 0);
	line(dst, scene_corners[2], scene_corners[3], Scalar(0, 0, 255), 2, 8, 0);
	line(dst, scene_corners[3], scene_corners[0], Scalar(0, 0, 255), 2, 8, 0);

	imshow("find known object demo", matchesImg);
	imshow("Draw object", dst);





}

参考博客：
https://blog.csdn.net/akadiao/article/details/79172050
https://blog.csdn.net/Daker_Huang/article/details/84930573

https://www.learnopencv.com/homography-examples-using-opencv-python-c/