线特征LSD提取、LBD描述子匹配实现过程源码

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于 2023-04-27 10:00:00 发布

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分类专栏： LINE SLAM 文章标签：计算机视觉深度学习人工智能 c++ opencv

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使用opencv实现线特征LSD提取、LBD描述子匹配实现：

具体逻辑如下：

1.设置读图的路径

2. 加载图片

3. 创建mask掩代码

4.初始化参数

5.检测LSD线段

6. 计算尺度第一塔的描述

7. 使用尺度第一塔进行特征与描述提取

8.LBD描述子匹配

9.选择高精度匹配

10.画图显示

完整代码如下：

#include <iostream>
#include <opencv2/opencv_modules.hpp>
#include <opencv2/line_descriptor.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/features2d.hpp>
#include <opencv2/highgui.hpp>

using namespace cv;
using namespace cv::line_descriptor;
using namespace std;

#define MATCHES_DIST_THRESHOLD 25

//主函数
int main(int argc, char** argv)
{
    //1.设置读图的路径
	String image_path1 = "your path1";
	String image_path2 = "your path2";

	if (image_path1.empty() || image_path2.empty())
	{
		return -1;
	}

	//2. 加载图片
	cv::Mat imageMat1 = imread(image_path1, 1);
	cv::Mat imageMat2 = imread(image_path2, 1);
	// 检测路径是否为空
	if (imageMat1.data == NULL || imageMat2.data == NULL)
	{
		std::cout << "Error, images could not be loaded. Please, check their path" << std::endl;
	}

	//3. 创建mask掩代码
	cv::Mat mask1 = Mat::ones(imageMat1.size(), CV_8UC1);
	cv::Mat mask2 = Mat::ones(imageMat2.size(), CV_8UC1);

	// 4.初始化参数
	Ptr<LSDDetector> lsd = LSDDetector::createLSDDetector();
	Ptr<BinaryDescriptor> lbd = BinaryDescriptor::createBinaryDescriptor();// BinaryDescriptor指针默认参数 
	Ptr<BinaryDescriptorMatcher> match1 = BinaryDescriptorMatcher::createBinaryDescriptorMatcher();	//BinaryDescriptorMatcher二值描述子匹配创建 

	//5.检测线段 
	std::vector<KeyLine> klsd1, klsd2;
	Mat lsd_descr1, lsd_descr2;
	lsd->detect(imageMat1, klsd1, 2, 2, mask1);
	lsd->detect(imageMat2, klsd2, 2, 2, mask2);

	//6. 计算尺度第一塔的描述 
	lbd->compute(imageMat1, klsd1, lsd_descr1);
	lbd->compute(imageMat2, klsd2, lsd_descr2);

	//7. 尺度第一塔进行特征与描述提取 
	std::vector<KeyLine> octave0_1, octave0_2;
	Mat leftDescr, rightDescr;
	for (int i = 0; i < (int)klsd1.size(); i++)
	{
		if (klsd1[i].octave == 1)
		{
			octave0_1.push_back(klsd1[i]);
			leftDescr.push_back(lsd_descr1.row(i));
		}
	}

	for (int j = 0; j < (int)klsd2.size(); j++)
	{
		if (klsd2[j].octave == 1)
		{
			octave0_2.push_back(klsd2[j]);
			rightDescr.push_back(lsd_descr2.row(j));
		}
	}

	//8.匹配 
	std::vector<DMatch> lsd_matches;
	match1->match(leftDescr, rightDescr, lsd_matches);

	//9.选择高精度匹配 
	std::vector<DMatch> good_matches;
	for (int i = 0; i < (int)lsd_matches.size(); i++)
	{
		if (lsd_matches[i].distance < MATCHES_DIST_THRESHOLD)
			good_matches.push_back(lsd_matches[i]);
	}

	// 10.画图显示
	cv::Mat lsd_outImg;
	resize(imageMat1, imageMat1, Size(imageMat1.cols/2, imageMat1.rows/2));
	resize(imageMat2, imageMat2, Size(imageMat2.cols/2, imageMat2.rows/2));
	std::vector<char> lsd_mask(lsd_matches.size(), 1);
	drawLineMatches(imageMat1, octave0_1, imageMat2, octave0_2, good_matches, lsd_outImg, 
		            Scalar::all(-1), Scalar::all(-1), lsd_mask, DrawLinesMatchesFlags::DEFAULT);
	imshow("LSD matches", lsd_outImg);
	std::cout << "LSDescriptorMatcher is : " << good_matches.size() << std::endl;
	waitKey(0);

	return 0;
}