【OpenCV】基于 ransac 算法的 sift 特征匹配程序（开发环境为OpenCV2.3.1+VS2010）

最新推荐文章于 2023-10-19 21:22:15 发布

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最新推荐文章于 2023-10-19 21:22:15 发布

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分类专栏： OpenCV 文章标签： OpenCV sift 算法 ransac 标定

本文链接：https://blog.csdn.net/wangezhu/article/details/9183821

版权

本文介绍了一种使用OpenCV2.3.1和Visual Studio 2010进行图像拼接的方法，涉及到标定、RANSAC算法和SIFT特征匹配。程序首先对USB摄像头进行标定，然后通过RANSAC算法去除坏点，利用SIFT特征进行匹配，最终实现图像拼接。代码中详细展示了从标定到匹配的步骤，包括内参矩阵和畸变系数的计算。

摘要由CSDN通过智能技术生成

因为前一阵子忙于自己的毕设，所以就没有及时更新日志，今天正好没其他事儿，所以，我就把图像拼接程序写上来了。。。欢迎大家的阅读以及批评和指正。

下面的程序是基于opencv2.3.1+vs2010的搭建的环境下编程的。。。

首先对两个usb通用摄像头进行了标定。然后进行图像拼接，最后进行测距。

这不是最终版，因为最终版是我的论文内容。

所以，要过一阵子才能写上来，因为现在写上来我的论文可能被互联网的查重率坑爹的。。。

呵呵，请大家见谅。。。不过，很多重点代码都是完好无损的。。。。

#include <math.h>
#include <ctime>
#include <cv.h>
#include <highgui.h>
#include <features2d/features2d.hpp>
#include <cvaux.h>
#include <string>
#include <iostream>
#include <fstream>
using namespace std;
using namespace cv;

void main()
{
ofstream fout("Result.txt");

float f_left[2],f_right[2];
IplImage * show; //RePlay图像指针
cvNamedWindow("RePlay",1);
int number_image_copy=7; //复制图像帧数
CvSize board_size=cvSize(9,6); //标定板角点数
CvSize2D32f square_size=cvSize2D32f(10,10); //假设我的每个标定方格长宽都是1.82厘米
float square_length=square_size.width; //方格长度
float square_height=square_size.height; //方格高度
int board_width=board_size.width; //每行角点数
int board_height=board_size.height; //每列角点数
int total_per_image=board_width*board_height; //每张图片角点总数
int count; //存储每帧图像中实际识别的角点数
int found; //识别标定板角点的标志位
int step; //存储步长，step=successes*total_per_image;
int successes=0; //存储成功找到标定板上所有角点的图像帧数
int a=1; //临时变量，表示在操作第a帧图像
const int NImages = 7;//图片总数

CvMat *rotation_vectors;
CvMat *translation_vectors;
CvPoint2D32f * image_points_buf = new CvPoint2D32f[total_per_image]; //存储角点图像坐标的数组
CvMat * image_points=cvCreateMat(NImages*total_per_image,2,CV_32FC1);//存储角点的图像坐标的矩阵
CvMat * object_points=cvCreateMat(NImages*total_per_image,3,CV_32FC1);//存储角点的三维坐标的矩阵
CvMat * point_counts=cvCreateMat(NImages,1,CV_32SC1);//存储每帧图像的识别的角点数
CvMat * intrinsic_matrix=cvCreateMat(3,3,CV_32FC1);//内参数矩阵
CvMat * distortion_coeffs=cvCreateMat(5,1,CV_32FC1);//畸变系数
rotation_vectors = cvCreateMat(NImages,3,CV_32FC1);//旋转矩阵
translation_vectors = cvCreateMat(NImages,3,CV_32FC1);//平移矩阵
ifstream fin("calibdata1.txt"); /* 定标所用图像文件的路径 */

while(a<=number_image_copy)
{
//sprintf_s (filename,"%d.jpg",a);
string filename;
getline(fin,filename);
show=cvLoadImage(filename.c_str(),1);
//寻找棋盘图的内角点位置
found=cvFindChessboardCorners(show,board_size,image_points_buf,&count,
CV_CALIB_CB_ADAPTIVE_THRESH|CV_CALIB_CB_FILTER_QUADS);

if (found==0)
{ //如果没找到标定板角点时
cout<<"第"<<a<<"帧图片无法找到棋盘格所有角点!\n\n";
fout<<"第"<<a<<"帧图片无法找到棋盘格所有角点!\n\n";
cvNamedWindow("RePlay",1);
cvShowImage("RePlay",show);
cvWaitKey(2000);

}
else
{ //找到标定板角点时
cout<<"第"<<a<<"帧图像成功获得"<<count<<"个角点...\n";
fout<<"第"<<a<<"帧图像成功获得"<<count<<"个角点...\n";
cvNamedWindow("RePlay",1);
IplImage * gray_image= cvCreateImage(cvGetSize(show),8,1);
cvCvtColor(show,gray_image,CV_BGR2GRAY);
cout<<"获取源图像灰度图过程完成...\n";
fout<<"获取源图像灰度图过程完成...\n";

cvFindCornerSubPix(gray_image,image_points_buf,count,cvSize(11,11),cvSize(-1,-1),
cvTermCriteria(CV_TERMCRIT_EPS+CV_TERMCRIT_ITER,30,0.1));
cout<<"灰度图亚像素化过程完成...\n";
fout<<"灰度图亚像素化过程完成...\n";
cvDrawChessboardCorners(show,board_size,image_points_buf,count,found);
cout<<"在源图像上绘制角点过程完成...\n\n";
fout<<"在源图像上绘制角点过程完成...\n\n";
cvShowImage("RePlay",show);
cvWaitKey(500);
}

if(total_per_image==count)
{
step=successes*total_per_image; //计算存储相应坐标数据的步长
for(int i=step,j=0;j<total_per_image;++i,++j)
{
CV_MAT_ELEM(*image_points, float,i,0)=image_points_buf[j].x;
CV_MAT_ELEM(*image_points, float,i,1)=image_points_buf[j].y;
CV_MAT_ELEM(*object_points,float,i,0)=(float)((j/board_width)*square_length);
CV_MAT_ELEM(*object_points,float,i,1)=(float)((j%board_width)*square_height);
CV_MAT_ELEM(*object_points,float,i,2)=0.0f;
}
CV_MAT_ELEM(*point_counts,int,successes,0)=total_per_image;
successes++;
}
cout<<"hahahahh======"<<a<<endl;
fout<<"hahahahh======"<<a<<endl;
a++;
}

cvReleaseImage(&show);
cvDestroyWindow("RePlay");

cout<<"*********************************************\n";
fout<<"*********************************************\n";
cout<<NImages<<"帧图片中，标定成功的图片为"<<successes<<"帧...\n";
fout<<NImages<<"帧图片中，标定成功的图片为"<<successes<<"帧...\n";
cout<<NImages<<"帧图片中，标定失败的图片为"<<NImages-successes<<"帧...\n\n";
fout<<NImages<<"帧图片中，标定失败的图片为"<<NImages-successes<<"帧...\n\n";
cout<<"*********************************************\n\n";
fout<<"*********************************************\n\n";

cout<<"按任意键开始计算摄像机内参数...\n\n";
fout<<"按任意键开始计算摄像机内参数...\n\n";

/*CvCapture* capture1;
capture1 = cvCreateCameraCapture(0);*/
IplImage * show_colie;
show_colie = cvLoadImage("F:\\graduatelunwen\\opencvprojects\\june\\opecv_ransac_sift_cameraCalibration\\dinggao_wanchengban_sift_ransac\\left_43.jpg",1);

CvMat * object_points2 = cvCreateMat(successes*total_per_image,3,CV_32FC1);
CvMat * image_points2 = cvCreateMat(successes*total_per_image,2,CV_32FC1);
CvMat * point_counts2 = cvCreateMat(successes,1,CV_32SC1);

for(int i=0;i<successes*total_per_image;++i)
{
CV_MAT_ELEM(*image_points2, float,i,0)=CV_MAT_ELEM(*image_points, float,i,0);
CV_MAT_ELEM(*image_points2, float,i,1)=CV_MAT_ELEM(*image_points, float,i,1);
CV_MAT_ELEM(*object_points2,float,i,0)=CV_MAT_ELEM(*object_points,float,i,0);
CV_MAT_ELEM(*object_points2,float,i,1)=CV_MAT_ELEM(*object_points,float,i,1);
CV_MAT_ELEM(*object_points2,float,i,2)=CV_MAT_ELEM(*object_points,float,i,2);
}

for(int i=0;i<successes;++i)
{
CV_MAT_ELEM(*point_counts2,int,i,0) = CV_MAT_ELEM(*point_counts,int,i,0);
}

cvReleaseMat(&object_points);
cvReleaseMat(&image_points);
cvReleaseMat(&point_counts);

CV_MAT_ELEM(*intrinsic_matrix,float,0,0)=1.0f;
CV_MAT_ELEM(*intrinsic_matrix,float,1,1)=1.0f;

cvCalibrateCamera2(object_points2,image_points2,point_counts2,cvGetSize(show_colie),
intrinsic_matrix,distortion_coeffs,rotation_vectors,translation_vectors,0);

cout<<"摄像机内参数矩阵为：\n";
fout<<"摄像机内参数矩阵为：\n";
cout<<CV_MAT_ELEM(*intrinsic_matrix,float,0,0)<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,0,1)
<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,0,2)
<<"\n\n";
cout<<CV_MAT_ELEM(*intrinsic_matrix,float,1,0)<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,1,1)
<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,1,2)
<<"\n\n";
cout<<CV_MAT_ELEM(*intrinsic_matrix,float,2,0)<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,2,1)
<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,2,2)
<<"\n\n";

fout<<CV_MAT_ELEM(*intrinsic_matrix,float,0,0)<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,0,1)
<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,0,2)
<<"\n\n";
fout<<CV_MAT_ELEM(*intrinsic_matrix,float,1,0)<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,1,1)
<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,1,2)
<<"\n\n";
fout<<CV_MAT_ELEM(*intrinsic_matrix,float,2,0)<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,2,1)
<<" "<<CV_MAT_ELEM(*intrinsic_matrix,float,2,2)
<<"\n\n";

f_left[0]=CV_MAT_ELEM(*intrinsic_matrix,float,0,0);
f_left[1]=CV_MAT_ELEM(*intrinsic_matrix,float,1,1);

cout<<"畸变系数矩阵为：\n";
cout<<CV_MAT_ELEM(*distortion_coeffs,float,0,0)<<" "<<CV_MAT_ELEM(*distortion_coeffs,float,1,0)
<<" "<<CV_MAT_ELEM(*distortion_coeffs,float,2,0)
<<" "<<CV_MAT_ELEM(*distortion_coeffs,float,3,0)
<<" "<<CV_MAT_ELEM(*distortion_coeffs,float,4,0)
<<"\n\n";

fout<<"畸变系数矩阵为：\n";
fout<<CV_MAT_ELEM(*distortion_coeffs,float,0,0)<<" "<<CV_MAT_ELEM(*distortion_coeffs,float,1,0)
<<" "<<CV_MAT_ELEM(*distortion_coeffs,float,2,0)
<<" "<<CV_MAT_ELEM(*distortion_coeffs,float,3,0)
<<" "<<CV_MAT_ELEM(*distortion_coeffs,float,4,0)
<<"\n\n";

cvSave("Intrinsics.xml",intrinsic_matrix);
cvSave("Distortion.xml",distortion_coeffs);

cout<<"摄像机矩阵、畸变系数向量已经分别存储在名为Intrinsics.xml、Distortion.xml文档中\n\n";
fout<<"摄像机矩阵、畸变系数向量已经分别存储在名为Intrinsics.xml、Distortion.xml文档中\n\n";

for(int ii = 0; ii < NImages; ++ii)
{ float tranv[3] = {0.0};
float rotv[3] = {0.0};

for ( int i = 0; i < 3; i++)
{
tranv[i] = ((float*)(translation_vectors->data.ptr+ii*translation_vectors->step))[i];
rotv[i] = ((float*)(rotation_vectors->data.ptr+rotation_vectors->step))[i];
}

cout << "第" << ii+1 << "幅图的外参数" << endl;
fout << "第" << ii+1 << "幅图的外参数" << endl;
printf("ROTATION VECTOR 旋转向量 : \n");
printf("[ %6.4f %6.4f %6.4f ] \n", rotv[0], rotv[1], rotv[2]);
printf("TRANSLATION VECTOR 平移向量: \n");
printf("[ %6.4f %6.4f %6.4f ] \n", tranv[0], tranv[1], tranv[2]);
printf("-----------------------------------------\n");

fout<<"ROTATION VECTOR 旋转向量 : \n"<<endl;
fout<< rotv[0]<<" "<< rotv[1]<<" "<< rotv[2]<<endl;
fout<<"TRANSLATION VECTOR 平移向量: \n"<<endl;
fout<< tranv[0]<<" "<< tranv[1]<< " "<<tranv[2]<<endl;
fout<<"-----------------------------------------\n"<<endl;
}
CvMat * intrinsic=(CvMat *)cvLoad("Intrinsics.xml");
CvMat * distortion=(CvMat *)cvLoad("Distortion.xml");