OpenCv专栏:https://blog.csdn.net/qq_40515692/article/details/102885061
总结一下:
cv::KeyPoint——关键点
cv::Feature2D——找到关键点或计算描述符的抽象类,如上一节的FastFeatureDetector即派生于Feature2D,定义了detect、compute、detectAndCompute等方法
cv::DMatch——匹配器
cv::DescriptorMatcher——关键点匹配的抽象类,在这一节我们将在代码中具体使用它们,它定义了match、knnMatch、radiusMatch等方法
(1).首先是官方文档给的AKAZE算法。
#include <opencv2/features2d.hpp>
#include <opencv2/imgcodecs.hpp>
#include <opencv2/opencv.hpp>
#include <vector>
#include <iostream>
using namespace std;
using namespace cv;
const float inlier_threshold = 2.5f; // Distance threshold to identify inliers
const float nn_match_ratio = 0.8f; // Nearest neighbor matching ratio
int main(void)
{
//1.加载图片和homography矩阵,注意更改文件位置
Mat img1 = imread("C:\\Users\\ttp\\Desktop\\5.jpg", IMREAD_GRAYSCALE);
Mat img2 = imread("C:\\Users\\ttp\\Desktop\\6.jpg", IMREAD_GRAYSCALE);
Mat homography;
/*FileStorage fs("../data/H1to3p.xml", FileStorage::READ);
fs.getFirstTopLevelNode() >> homography;*/
homography = (Mat_<double>(3, 3) << 7.6285898e-01, -2.9922929e-01, 2.2567123e+02,
3.3443473e-01, 1.0143901e+00, -7.6999973e+01,
3.4663091e-04, -1.4364524e-05, 1.0000000e+00);
//2.使用AKAZE检测关键点(keypoints)和计算描述符(descriptors)
vector<KeyPoint> kpts1, kpts2; //关键点
Mat desc1, desc2; //描述符
Ptr<AKAZE> akaze = AKAZE::create();
akaze->detectAndCompute(img1, noArray(), kpts1, desc1);
akaze->detectAndCompute(img2, noArray(), kpts2, desc2);
//3.使用brute-force适配器来找到 2-nn 匹配
BFMatcher matcher(NORM_HAMMING); //暴力匹配
vector< vector<DMatch> > nn_matches;
matcher.knnMatch(desc1, desc2, nn_matches, 2);
//4.Use 2-nn matches to find correct keypoint matches
vector<KeyPoint> matched1, matched2, inliers1, inliers2;
vector<DMatch> good_matches;
for (size_t i = 0; i < nn_matches.size(); i++) {
DMatch first = nn_matches[i][0];
float dist1 = nn_matches[i][0].distance;
float dist2 = nn_matches[i][1].distance;
if (dist1 < nn_match_ratio * dist2) {
matched1.push_back(kpts1[first.queryIdx]);
matched2.push_back(kpts2[first.trainIdx]);
}
}
//5.Check if our matches fit in the homography model
for (unsigned i = 0; i < matched1.size(); i++) {
Mat col = Mat::ones(3, 1, CV_64F);
col.at<double>(0) = matched1[i].pt.x;
col.at<double>(1) = matched1[i].pt.y;
col = homography * col;
col /= col.at<double>(2);
double dist = sqrt(pow(col.at<double>(0) - matched2[i].pt.x, 2) +
pow(col.at<double>(1) - matched2[i].pt.y, 2));
if (dist < inlier_threshold) {
int new_i = static_cast<int>(inliers1.size());
inliers1.push_back(matched1[i]);
inliers2.push_back(matched2[i]);
good_matches.push_back(DMatch(new_i, new_i, 0));
}
}
Mat res;
drawMatches(img1, inliers1, img2, inliers2, good_matches, res);
imshow("res", res);
double inlier_ratio = inliers1.size() * 1.0 / matched1.size();
cout << "A-KAZE Matching Results" << endl;
cout << "*******************************" << endl;
cout << "# Keypoints 1: \t" << kpts1.size() << endl;
cout << "# Keypoints 2: \t" << kpts2.size() << endl;
cout << "# Matches: \t" << matched1.size() << endl;
cout << "# Inliers: \t" << inliers1.size() << endl;
cout << "# Inliers Ratio: \t" << inlier_ratio << endl;
cout << endl;
waitKey(0);
return 0;
}
(2).这里给一个较完整的使用AKAZE算法,包含匹配和识别的程序。
#include<opencv2\opencv.hpp>
using namespace cv;
using namespace std;
double ImgCmp(const char* srcPath, const char* dstPath, const char* saveGrayPath, const char* saveDstPath, int myX = 300, int myY = 486)
{
Mat src1, src2, dst;
src1 = imread(srcPath, IMREAD_GRAYSCALE);
src2 = imread(dstPath, IMREAD_GRAYSCALE);
resize(src1, src1, Size(myX, myY));
resize(src2, src2, Size(myX, myY));
//1.AKAZE
Ptr<AKAZE>akaze = AKAZE::create();
vector<KeyPoint> keypoints1, keypoints2;
Mat descriptors1, descriptors2;
akaze->detectAndCompute(src1, Mat(), keypoints1, descriptors1);
akaze->detectAndCompute(src2, Mat(), keypoints2, descriptors2);
//2.暴力匹配
BFMatcher matcher;
vector<DMatch>matches;
matcher.match(descriptors1, descriptors2, matches);
double minDist = 1000;
for (int i = 0; i < descriptors1.rows; i++)
{
double dist = matches[i].distance;
if (dist < minDist)
{
minDist = dist;
}
}
//3.挑选较好的匹配DMatch
vector<DMatch>goodMatches;
for (int i = 0; i < descriptors1.rows; i++)
{
double dist = matches[i].distance;
if (dist < max(1.5 * minDist, 0.02))
{
goodMatches.push_back(matches[i]);
}
}
//4.绘制saveGrayPath路径的good_match_img
Mat good_match_img;
drawMatches(src1, keypoints1, src2, keypoints2, goodMatches, good_match_img, Scalar::all(-1), Scalar::all(-1), vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);
//perspective transform
vector<Point2f>src1GoodPoints;
vector<Point2f>src2GoodPoints;
for (int i = 0; i < goodMatches.size(); i++)
{
src1GoodPoints.push_back(keypoints1[goodMatches[i].queryIdx].pt);
src2GoodPoints.push_back(keypoints2[goodMatches[i].trainIdx].pt);
}
Mat P = findHomography(src1GoodPoints, src2GoodPoints, RANSAC);//有不良匹配点时用RANSAC
vector<Point2f>src1corner(4);
vector<Point2f>src2corner(4);
src1corner[0] = Point(0, 0);
src1corner[1] = Point(src1.cols, 0);
src1corner[2] = Point(src1.cols, src1.rows);
src1corner[3] = Point(0, src1.rows);
perspectiveTransform(src1corner, src2corner, P);
//在匹配图上画
line(good_match_img, Point(src2corner[0].x + src1.cols, src2corner[0].y), Point(src2corner[1].x + src1.cols, src2corner[1].y), Scalar(0, 0, 255), 2);
line(good_match_img, Point(src2corner[1].x + src1.cols, src2corner[1].y), Point(src2corner[2].x + src1.cols, src2corner[2].y), Scalar(0, 0, 255), 2);
line(good_match_img, Point(src2corner[2].x + src1.cols, src2corner[2].y), Point(src2corner[3].x + src1.cols, src2corner[3].y), Scalar(0, 0, 255), 2);
line(good_match_img, Point(src2corner[3].x + src1.cols, src2corner[3].y), Point(src2corner[0].x + src1.cols, src2corner[0].y), Scalar(0, 0, 255), 2);
//在原图上画
Mat srcRes = imread(dstPath);
resize(srcRes, srcRes, Size(myX, myY));
line(srcRes, src2corner[0], src2corner[1], Scalar(0, 0, 255), 2);
line(srcRes, src2corner[1], src2corner[2], Scalar(0, 0, 255), 2);
line(srcRes, src2corner[2], src2corner[3], Scalar(0, 0, 255), 2);
line(srcRes, src2corner[3], src2corner[0], Scalar(0, 0, 255), 2);
imwrite(saveGrayPath, good_match_img);
imwrite(saveDstPath, srcRes);
return minDist;
}
int main(int arc, char** argv)
{
// 注意更改文件位置
printf("%f", ImgCmp("C:\\Users\\ttp\\Desktop\\5.jpg", //src源图片
"C:\\Users\\ttp\\Desktop\\8.jpg", //dst将框选出目标的图片
"C:\\Users\\ttp\\Desktop\\Gray.jpg", //在指定位置保存的图片
"C:\\Users\\ttp\\Desktop\\Dst.jpg", //在指定位置保存的图片
300, 486)
);
system("pause");
return 0;
}
结果:
我的输入图片是:
C:\\Users\\ttp\\Desktop\\5.jpg
C:\\Users\\ttp\\Desktop\\8.jpg
程序的输出是:
值越小越相似,当为0时图片相同。
C:\\Users\\ttp\\Desktop\\Gray.jpg
C:\\Users\\ttp\\Desktop\\Dst.jpg
欢迎大家批判指正!