OpenCV20（flann一个简单的测试程序）

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最新推荐文章于 2024-06-30 13:12:58 发布

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// flann测试.cpp : 定义控制台应用程序的入口点。
//
/**来源于OpenCV官网，略有修改
 * @file SURF_FlannMatcher
 * @brief SURF detector + descriptor + FLANN Matcher
 * @author A. Huaman
 */

#include "stdafx.h"
#include "opencv2/opencv_modules.hpp"
#include <stdio.h>
# include "opencv2/core/core.hpp"
# include "opencv2/features2d/features2d.hpp"
# include "opencv2/highgui/highgui.hpp"
# include "opencv2/nonfree/features2d.hpp"

using namespace cv;

int main( int argc, char** argv )
{

  Mat img_1 = imread("xxx1.jpg", CV_LOAD_IMAGE_GRAYSCALE );//灰度方式读入
  Mat img_2 = imread("xxx2.jpg", CV_LOAD_IMAGE_GRAYSCALE );

  if( !img_1.data || !img_2.data )
  { printf(" --(!) Error reading images \n"); return -1; }

  //-- Step 1: Detect the keypoints using SURF Detector
  int minHessian = 400;//黑塞矩阵

  SurfFeatureDetector detector( minHessian );//特征点检测

  std::vector<KeyPoint> keypoints_1, keypoints_2;

  detector.detect( img_1, keypoints_1 );
  detector.detect( img_2, keypoints_2 );

  //-- Step 2: Calculate descriptors (feature vectors)//描述符号，特征向量
  SurfDescriptorExtractor extractor;

  Mat descriptors_1, descriptors_2;

  extractor.compute( img_1, keypoints_1, descriptors_1 );//计算图像中的特征点，得到描述符号（descriptor）
  extractor.compute( img_2, keypoints_2, descriptors_2 );

  //-- Step 3: Matching descriptor vectors using FLANN matcher
  FlannBasedMatcher matcher;
  std::vector< DMatch > matches;// DMatch是封装好的两个匹配点（匹配对）的一组多个特征的类，这个matches是用来存放匹配对特征的向量
  matcher.match( descriptors_1, descriptors_2, matches );// 有兴趣可以自己看看这个match的实现

  double max_dist = 0; double min_dist = 100;

  //-- Quick calculation of max and min distances between keypoints
  for( int i = 0; i < descriptors_1.rows; i++ )
  { double dist = matches[i].distance;
    if( dist < min_dist ) min_dist = dist;
    if( dist > max_dist ) max_dist = dist;
  }

  printf("-- Max dist : %f \n", max_dist );
  printf("-- Min dist : %f \n", min_dist );

  //-- Draw only "good" matches (i.e. whose distance is less than 2*min_dist,
  //-- or a small arbitary value ( 0.02 ) in the event that min_dist is very
  //-- small)
  //-- PS.- radiusMatch can also be used here.
  std::vector< DMatch > good_matches;

  for( int i = 0; i < descriptors_1.rows; i++ )
  { if( matches[i].distance <= max(2*min_dist, 0.02) )
    { good_matches.push_back( matches[i]); }
  }

  //-- Draw only "good" matches
  Mat img_matches;
  drawMatches( img_1, keypoints_1, img_2, keypoints_2,
               good_matches, img_matches, Scalar::all(-1), Scalar::all(-1),
               vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );

  //-- Show detected matches
  imshow( "Good Matches", img_matches );

  for( int i = 0; i < (int)good_matches.size(); i++ )
  { printf( "-- Good Match [%d] Keypoint 1: %d  -- Keypoint 2: %d  \n", i, good_matches[i].queryIdx, good_matches[i].trainIdx ); }

  waitKey(0);

  return 0;
}