opencv学习 第十章 估算图像之间的投影关系

opencv学习 第十章 估算图像之间的投影关系
10.2 计算图像对的基础矩阵

#include"stdafx.h"
#include<iostream>  
#include<opencv2/core/core.hpp>    
#include<opencv2/highgui/highgui.hpp> 
#include<opencv2/features2d/features2d.hpp>
#include<opencv2/imgproc/imgproc.hpp>  
#include<opencv2/xfeatures2d.hpp>
#include<opencv2/opencv.hpp>

using namespace std;
using namespace cv;

int main() {

	Mat image1 =imread("故宫5.jpg");
	Mat image2 =imread("故宫7.jpg");
	resize(image1, image1, Size(360, 480));
	resize(image2, image2, Size(360, 480));
	if (!image1.data || !image2.data)
		return 0;

	//特征点的向量
	vector<KeyPoint> keypoints1, keypoints2;
	//构造SURF特征检测器
	Ptr<xfeatures2d::SurfFeatureDetector> ptrSURF = xfeatures2d::SurfFeatureDetector::create(2000.0);//阈值
										//检测SURF特征
	ptrSURF->detect(image1, keypoints1);
	ptrSURF->detect(image2, keypoints2);

	//提取SURF描述子
	Mat descriptors1, descriptors2;
	ptrSURF->compute(image1, keypoints1, descriptors1);
	ptrSURF->compute(image2, keypoints2, descriptors2);

	//构造匹配器
	BFMatcher matcher(NORM_L2);
	//匹配两幅图像的描述子
	vector<DMatch> matches;
	matcher.match(descriptors1, descriptors2, matches);

	nth_element(matches.begin(),	//初始位置
		matches.begin() +7,	//排序元素的位置
		matches.end());		//终止位置
							//移除第7位之后所有的元素
	matches.erase(matches.begin() + 7, matches.end());

	Mat imageMatches;
	drawMatches(
		image1, keypoints1,	//第一幅图像及其特征点
		image2, keypoints2,	//第二幅图像及其特征点
		matches,	//匹配结果
		imageMatches,	//生成的图像
		Scalar(255, 255, 255),//直线的颜色
		Scalar(0,255,0));	//点的颜色
	imshow("match", imageMatches);
								//转换KeyPoint类型到Point2f
	vector<Point2f>selPoints1, selPoints2;
	vector<int>pointIndexes1, pointIndexes2;
	/*
	for (std::vector<cv::DMatch>::const_iterator it = matches.begin();
		it != matches.end(); ++it)
	{

		// Get the indexes of the selected matched keypoints
		pointIndexes1.push_back(it->queryIdx);
		pointIndexes2.push_back(it->trainIdx);
	}
	*/ 
	KeyPoint::convert(keypoints1, selPoints1, pointIndexes1);
	KeyPoint::convert(keypoints2, selPoints2, pointIndexes2);
	//从7个矩阵中计算F矩阵
	Mat fundemental =findFundamentalMat(
		Mat(selPoints1),	//图1中的点
		Mat(selPoints2),	//图2中的点
		CV_FM_7POINT);	//使用7个点的方法

						//计算左图中点的极线 绘制在右图中 在右图中绘制对应的极线
	vector<Vec3f> lines1;
	computeCorrespondEpilines(
		Mat(selPoints1),	//图像点
		1,	//图1（也可以是2）
		fundemental,	//F矩阵
		lines1);	//一组极线

					//对于所有极线
	for (vector<Vec3f>::const_iterator it = lines1.begin(); it != lines1.end(); ++it)
	{
		//绘制第一列与最后一列之间的直线
		line(image2,
			Point(0, -(*it)[2] / (*it)[1]),
			Point(image2.cols, -((*it)[2] + (*it)[0] * image2.cols) / (*it)[1]), Scalar(255, 255, 255));
	}

	namedWindow("Left Image Epilines");
	//imshow("right", image1);
	imshow("Left Image Epilines", image2);

	waitKey(0);
	return 0;
}

运行结果：