2021-08-25特征描述子与匹配，Flann特征匹配

积分图像

#include <opencv2/opencv.hpp>
#include <iostream>

using namespace cv;

int main(int argc, char** argv) {
	Mat src = imread("D:/1.jpg", IMREAD_GRAYSCALE);
	if (src.empty()) {
		printf("could not load image...\n");
		return -1;
	}
	namedWindow("input image", WINDOW_AUTOSIZE);
	imshow("input image", src);

	Mat sumii = Mat::zeros(src.rows + 1, src.cols + 1, CV_32FC1);
	Mat sqsumii = Mat::zeros(src.rows + 1, src.cols + 1, CV_64FC1);
	integral(src, sumii, sqsumii);//积分图像

	Mat iiResult;
	normalize(sumii, iiResult, 0, 255, NORM_MINMAX, CV_8UC1, Mat());//归一化
	imshow("Integral Image", iiResult);

	waitKey(0);
	return 0;
}

FLANN特征匹配

#include <opencv2/opencv.hpp>
#include <opencv2/xfeatures2d.hpp>
#include <iostream>
#include <math.h>

using namespace cv;
using namespace std;
using namespace cv::xfeatures2d;

int main(int argc, char** argv) {
	Mat img1 = imread("D:/vcprojects/images/box.png", IMREAD_GRAYSCALE);
	Mat img2 = imread("D:/vcprojects/images/box_in_scene.png", IMREAD_GRAYSCALE);
	if (!img1.data || !img2.data) {
		return -1;
	}
	imshow("object image", img1);
	imshow("object in scene", img2);

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

	// matching
	FlannBasedMatcher matcher;
	vector<DMatch> matches;
	matcher.match(descriptor_obj, descriptor_scene, 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_scene, goodMatches, matchesImg, Scalar::all(-1),
		Scalar::all(-1), vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS
	);
	imshow("Flann Matching Result", matchesImg);

	waitKey(0);
	return 0;
}

#include <opencv2/opencv.hpp>
#include <opencv2/xfeatures2d.hpp>
#include <iostream>
#include <math.h>

using namespace cv;
using namespace std;
using namespace cv::xfeatures2d;

int main(int argc, char** argv) {
	Mat img1 = imread("D:/vcprojects/images/box.png", IMREAD_GRAYSCALE);
	Mat img2 = imread("D:/vcprojects/images/box_in_scene.png", IMREAD_GRAYSCALE);
	if (!img1.data || !img2.data) {
		return -1;
	}
	imshow("object image", img1);
	imshow("object in scene", img2);

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

	// matching
	FlannBasedMatcher matcher;
	vector<DMatch> matches;
	matcher.match(descriptor_obj, descriptor_scene, 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_scene, goodMatches, matchesImg, Scalar::all(-1),
		Scalar::all(-1), vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS
	);

	vector<Point2f> obj;
	vector<Point2f> objInScene;
	for (size_t t = 0; t < goodMatches.size(); t++) {
		obj.push_back(keypoints_obj[goodMatches[t].queryIdx].pt);
		objInScene.push_back(keypoints_scene[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);

	waitKey(0);
	return 0;
}

brisk

#include <opencv2/opencv.hpp>
#include <iostream>

using namespace cv;
using namespace std;

int main(int argc, char** argv) {
	Mat img1 = imread("D:/vcprojects/images/box.png", IMREAD_GRAYSCALE);
	Mat img2 = imread("D:/vcprojects/images/box_in_scene.png", IMREAD_GRAYSCALE);
	if (img1.empty() || img2.empty()) {
		printf("could not load images...\n");
		return -1;
	}
	imshow("box image", img1);
	imshow("scene image", img2);

	// extract BRISK features
	Ptr<Feature2D> detector = BRISK::create();
	vector<KeyPoint> keypoints_obj;
	vector<KeyPoint> keypoints_scene;
	Mat descriptor_obj, descriptor_scene;
	detector->detectAndCompute(img1, Mat(), keypoints_obj, descriptor_obj);
	detector->detectAndCompute(img2, Mat(), keypoints_scene, descriptor_scene);

	// matching
	BFMatcher matcher(NORM_L2);
	vector<DMatch> matches;
	matcher.match(descriptor_obj, descriptor_scene, matches);

	// draw matches
	Mat matchesImg;
	drawMatches(img1, keypoints_obj, img2, keypoints_scene, matches, matchesImg);
	imshow("BRISK MATCH RESULT", matchesImg);

	//  draw key points
	// Mat resultImg;
	// drawKeypoints(src, keypoints, resultImg, Scalar::all(-1), DrawMatchesFlags::DEFAULT);
	// imshow("Brisk Key Points", resultImg);

	waitKey(0);
	return 0;
}

级联分类器-人脸检测

#include <opencv2/opencv.hpp>
#include <iostream>

using namespace cv;
using namespace std;

int main(int argc, char** argv) {
	String cascadeFilePath = "D:/vs/opencv/build/install/etc/haarcascades/haarcascade_frontalface_alt.xml";
	CascadeClassifier face_cascade;
	if (!face_cascade.load(cascadeFilePath)) {
		printf("could not load haar data...\n");
		return -1;
	}

	/*
	Mat src, gray_src;
	src = imread("D:/1.jpg");
	cvtColor(src, gray_src, COLOR_BGR2GRAY);
	equalizeHist(gray_src, gray_src);
	imshow("input image", src);
	*/
	VideoCapture capture(0);
	Mat frame,frame1;
	if (!capture.isOpened()) {
		printf("could not load Video");
		return -1;
	}
	while (capture.read(frame)) {

		cvtColor(frame, frame1, COLOR_BGR2GRAY);
		equalizeHist(frame1,frame1);

		vector<Rect> faces;
		face_cascade.detectMultiScale(frame1, faces, 1.1, 2, 0, Size(30, 30));
		for (size_t t = 0; t < faces.size(); t++) {
			rectangle(frame, faces[t], Scalar(0, 0, 255), 2, 8, 0);
		}

		namedWindow("output", WINDOW_AUTOSIZE);
		imshow("output", frame);
		char c = waitKey(20);
		if (c == 27) {
			break;
		}
		
	
	}

	waitKey(0);
	capture.release();
	return 0;
}