opencv中fast特征匹配_使用FLANN进行特征点匹配

#include

#include

#include "opencv2/core/core.hpp"

#include "opencv2/features2d/features2d.hpp"

#include "opencv2/highgui/highgui.hpp"

using namespace cv;

void readme();

/** @function main */

int main( int argc, char** argv )

{

if( argc != 3 )

{ readme(); return -1; }

Mat img_1 = imread( argv[1], CV_LOAD_IMAGE_GRAYSCALE );

Mat img_2 = imread( argv[2], CV_LOAD_IMAGE_GRAYSCALE );

if( !img_1.data || !img_2.data )

{ std::cout<< " --(!) Error reading images " << std::endl; return -1; }

//-- Step 1: Detect the keypoints using SURF Detector

int minHessian = 400;

SurfFeatureDetector detector( minHessian );

std::vector keypoints_1, keypoints_2;

detector.detect( img_1, keypoints_1 );

detector.detect( img_2, keypoints_2 );

//-- Step 2: Calculate descriptors (feature vectors)

SurfDescriptorExtractor extractor;

Mat descriptors_1, descriptors_2;

extractor.compute( img_1, keypoints_1, descriptors_1 );

extractor.compute( img_2, keypoints_2, descriptors_2 );

//-- Step 3: Matching descriptor vectors using FLANN matcher

FlannBasedMatcher matcher;

std::vector< DMatch > matches;

matcher.match( descriptors_1, descriptors_2, matches );

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 )

//-- 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 < 2*min_dist )

{ 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(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );

//-- Show detected matches

imshow( "Good Matches", img_matches );

for( int i = 0; i < 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;

}

/** @function readme */

void readme()

{ std::cout << " Usage: ./SURF_FlannMatcher " << std::endl; }