/***好记性不如烂笔头,便于后续复习***/
最近用到OpenCV中KeyPoints和DMatch类,有些记忆模糊,特此记下!
一、DMatche类:
/******* DMatch ******/
/* Struct for matching:
query descriptor index,
train descriptor index,
train image index,
distance between descriptors.
*/
struct DMatch
{
//有三个构造函数
DMatch() : queryIdx(-1), trainIdx(-1), imgIdx(-1), distance(FLT_MAX) {}
DMatch( int _queryIdx, int _trainIdx, float _distance ) :
queryIdx(_queryIdx), trainIdx(_trainIdx), imgIdx(-1), distance(_distance) {}
DMatch( int _queryIdx, int _trainIdx, int _imgIdx, float _distance ) :
queryIdx(_queryIdx), trainIdx(_trainIdx), imgIdx(_imgIdx), distance(_distance) {}
//有四个成员变量
CV_PROP_RW int queryIdx; //此匹配对应的查询图像的特征描述子索引 query descriptor index
CV_PROP_RW int trainIdx; //此匹配对应的训练(模板)图像的特征描述子索引 train descriptor index
CV_PROP_RW int imgIdx; //训练图像的索引(若有多个) train image index
CV_PROP_RW float distance;//两个特征向量之间的欧氏距离,越小表明匹配度越高
// less is better
bool operator<( const DMatch &m ) const
{
return distance < m.distance;
}
};
二、KeyPoint类:
/********
The Keypoint Class
The class instance stores a keypoint, i.e. a point feature found by one of many available keypoint detectors, such as
Harris corner detector, cv::FAST, cv::StarDetector, cv::SURF, cv::SIFT, cv::LDetector etc.
********/
class KeyPoint
{
public:
// the default constructor默认构造函数
KeyPoint() : pt(0,0), size(0), angle(-1),
response(0), octave(0), class_id(-1) {}
// the full constructor
KeyPoint(Point2f _pt, float _size, float _angle=-1,
float _response=0, int _octave=0, int _class_id=-1)
:pt(_pt), size(_size), angle(_angle),
response(_response), octave(_octave), class_id(_class_id) {}
// another form of the full constructor
KeyPoint(float x, float y, float _size, float _angle=-1,
float _response=0, int _octave=0, int _class_id=-1)
:pt(x, y), size(_size), angle(_angle),
response(_response), octave(_octave), class_id(_class_id) {}
size_t hash() const;
// converts vector of keypoints to vector of points
static void convert(const vector<KeyPoint>& keypoints,
CV_OUT vector<Point2f>& points2f,
const vector<int>& keypointIndexes=vector<int>());
// converts vector of points to the vector of keypoints, where each keypoint is assigned the same size and the same orientation
static void convert(const vector<Point2f>& points2f,
CV_OUT vector<KeyPoint>& keypoints,
float size=1, float response=1, int octave=0, int class_id=-1);
// computes overlap for pair of keypoints;
// overlap is a ratio between area of keypoint regions intersection and
// area of keypoint regions union (now keypoint region is circle)
static float overlap(const KeyPoint& kp1, const KeyPoint& kp2);
Point2f pt; //<关键点坐标coordinates of the keypoints>
float size; //<关键点邻域直径大小diameter of the meaningful keypoint neighborhood
float angle; //<特征点方向computed orientation of the keypoint (-1 if not applicable);
//< it's in [0,360) degrees and measured relative to
//< image coordinate system, ie in clockwise.
float response; //< the response by which the most strong keypoints have been selected. Can be used for the further sorting or subsampling
int octave; //<关键点所在的图像金字塔的组octave (pyramid layer) from which the keypoint has been extracted
int class_id; //<用于聚类的ID object class (if the keypoints need to be clustered by an object they belong to)
};