在opencv为我们提供的拼接demo程序里使用的是SURF拼接算法(详情见文章一),如果你打算深究该算法,可是Opencv的源码阅读有困难,以下这篇文章由浅至深,介绍了拼接的流程,检测特征点->计算描述符->匹配特征点->去除错误的匹配点->融合->拼接缝的处理等。缓慢的为大家介绍。实在是入门的精品。
惯例:以下是参考博文:http://www.cnblogs.com/jsxyhelu/p/4475809.html
基于SURF特征的图像与视频拼接技术的研究和实现(一)
一直有计划研究实时图像拼接,但是直到最近拜读西电2013年张亚娟的《基于SURF特征的图像与视频拼接技术的研究和实现》,条理清晰、内容完整、实现的技术具有市场价值。
因此定下决心以这篇论文为基础脉络,结合实际情况,进行“
基于SURF特征的图像与视频拼接技术的研究和实现
”。
一、基于opencv的surf实现
3.0以后,surf被分到了"
opencv_contrib-master
"中去,操作起来不习惯,这里仍然选择一直在使用的opencv2.48,其surf的调用方式为:
// raw_surf.cpp : 本例是对opencv-2.48相关例子的实现
//
# include "stdafx.h"
# include <iostream >
# include "opencv2/core/core.hpp"
# include "opencv2/features2d/features2d.hpp"
# include "opencv2/highgui/highgui.hpp"
# include "opencv2/nonfree/features2d.hpp"
using namespace std;
using namespace cv;
int main( int argc, char * * argv )
{
Mat img_1 = imread( "img_opencv_1.png", 0 );
Mat img_2 = imread( "img_opencv_2.png", 0 );
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 = 10000;
SurfFeatureDetector detector( minHessian );
std : :vector <KeyPoint > keypoints_1, keypoints_2;
detector.detect( img_1, keypoints_1 );
detector.detect( img_2, keypoints_2 );
//-- Draw keypoints
Mat img_keypoints_1; Mat img_keypoints_2;
drawKeypoints( img_1, keypoints_1, img_keypoints_1, Scalar : :all( - 1), DrawMatchesFlags : :DEFAULT );
drawKeypoints( img_2, keypoints_2, img_keypoints_2, Scalar : :all( - 1), DrawMatchesFlags : :DEFAULT );
//-- 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 with a brute force matcher
BFMatcher matcher(NORM_L2);
std : :vector < DMatch > matches;
matcher.match( descriptors_1, descriptors_2, matches );
//-- Draw matches
Mat img_matches;
drawMatches( img_1, keypoints_1, img_2, keypoints_2, matches, img_matches );
//-- Show detected (drawn) keypoints
imshow( "Keypoints 1", img_keypoints_1 );
imshow( "Keypoints 2", img_keypoints_2 );
//-- Show detected matches
imshow( "Matches", img_matches );
waitKey( 0);
return 0;
}
//
# include "stdafx.h"
# include <iostream >
# include "opencv2/core/core.hpp"
# include "opencv2/features2d/features2d.hpp"
# include "opencv2/highgui/highgui.hpp"
# include "opencv2/nonfree/features2d.hpp"
using namespace std;
using namespace cv;
int main( int argc, char * * argv )
{
Mat img_1 = imread( "img_opencv_1.png", 0 );
Mat img_2 = imread( "img_opencv_2.png", 0 );
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 = 10000;
SurfFeatureDetector detector( minHessian );
std : :vector <KeyPoint > keypoints_1, keypoints_2;
detector.detect( img_1, keypoints_1 );
detector.detect( img_2, keypoints_2 );
//-- Draw keypoints
Mat img_keypoints_1; Mat img_keypoints_2;
drawKeypoints( img_1, keypoints_1, img_keypoints_1, Scalar : :all( - 1), DrawMatchesFlags : :DEFAULT );
drawKeypoints( img_2, keypoints_2, img_keypoints_2, Scalar : :all( - 1), DrawMatchesFlags : :DEFAULT );
//-- 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 with a brute force matcher
BFMatcher matcher(NORM_L2);
std : :vector < DMatch > matches;
matcher.match( descriptors_1, descriptors_2, matches );
//-- Draw matches
Mat img_matches;
drawMatches( img_1, keypoints_1, img_2, keypoints_2, matches, img_matches );
//-- Show detected (drawn) keypoints
imshow( "Keypoints 1", img_keypoints_1 );
imshow( "Keypoints 2", img_keypoints_2 );
//-- Show detected matches
imshow( "Matches", img_matches );
waitKey( 0);
return 0;
}
这里采用的是surffeaturedector的方法进行点的寻找,而后采用BFMatcher的方法进行数据比对。但这种方法错误的比较多,提供了FLANN的方法进行比对:
// raw_surf.cpp : 本例是对opencv-2.48相关例子的实现
//
# include "stdafx.h"
# include <iostream >
# include "opencv2/core/core.hpp"
# include "opencv2/features2d/features2d.hpp"
# include "opencv2/highgui/highgui.hpp"
# include "opencv2/nonfree/features2d.hpp"
using namespace std;
using namespace cv;
int main( int argc, char * * argv )
{
Mat img_1 = imread( "img_opencv_1.png", 0 );
Mat img_2 = imread( "img_opencv_2.png", 0 );
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 <KeyPoint > keypoints_1, keypoints_2;
detector.detect( img_1, keypoints_1 );
detector.detect( img_2, keypoints_2 );
//-- Draw keypoints
Mat img_keypoints_1; Mat img_keypoints_2;
drawKeypoints( img_1, keypoints_1, img_keypoints_1, Scalar : :all( - 1), DrawMatchesFlags : :DEFAULT );
drawKeypoints( img_2, keypoints_2, img_keypoints_2, Scalar : :all( - 1), DrawMatchesFlags : :DEFAULT );
//-- 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,
//-- 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;
}
//
# include "stdafx.h"
# include <iostream >
# include "opencv2/core/core.hpp"
# include "opencv2/features2d/features2d.hpp"
# include "opencv2/highgui/highgui.hpp"
# include "opencv2/nonfree/features2d.hpp"
using namespace std;
using namespace cv;
int main( int argc, char * * argv )
{
Mat img_1 = imread( "img_opencv_1.png", 0 );
Mat img_2 = imread( "img_opencv_2.png", 0 );
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 <KeyPoint > keypoints_1, keypoints_2;
detector.detect( img_1, keypoints_1 );
detector.detect( img_2, keypoints_2 );
//-- Draw keypoints
Mat img_keypoints_1; Mat img_keypoints_2;
drawKeypoints( img_1, keypoints_1, img_keypoints_1, Scalar : :all( - 1), DrawMatchesFlags : :DEFAULT );
drawKeypoints( img_2, keypoints_2, img_keypoints_2, Scalar : :all( - 1), DrawMatchesFlags : :DEFAULT );
//-- 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,
//-- 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;
}
![](http://images.cnitblog.com/blog/508489/201505/041153543455161.jpg)
可以发现,除了错误一例,其他都是正确的。
继续来做,计算出单应矩阵
// raw_surf.cpp : 本例是对opencv-2.48相关例子的实现
//
# include "stdafx.h"
# include <iostream >
# include "opencv2/core/core.hpp"
# include "opencv2/features2d/features2d.hpp"
# include "opencv2/highgui/highgui.hpp"
# include "opencv2/nonfree/features2d.hpp"
# include "opencv2/calib3d/calib3d.hpp"
using namespace std;
using namespace cv;
int main( int argc, char * * argv )
{
Mat img_1 = imread( "img_opencv_1.png", 0 );
Mat img_2 = imread( "img_opencv_2.png", 0 );
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 <KeyPoint > keypoints_1, keypoints_2;
detector.detect( img_1, keypoints_1 );
detector.detect( img_2, keypoints_2 );
//-- Draw keypoints
Mat img_keypoints_1; Mat img_keypoints_2;
drawKeypoints( img_1, keypoints_1, img_keypoints_1, Scalar : :all( - 1), DrawMatchesFlags : :DEFAULT );
drawKeypoints( img_2, keypoints_2, img_keypoints_2, Scalar : :all( - 1), DrawMatchesFlags : :DEFAULT );
//-- 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,
//-- 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)*/ 3 *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 < char >(), DrawMatchesFlags : :NOT_DRAW_SINGLE_POINTS );
//
# include "stdafx.h"
# include <iostream >
# include "opencv2/core/core.hpp"
# include "opencv2/features2d/features2d.hpp"
# include "opencv2/highgui/highgui.hpp"
# include "opencv2/nonfree/features2d.hpp"
# include "opencv2/calib3d/calib3d.hpp"
using namespace std;
using namespace cv;
int main( int argc, char * * argv )
{
Mat img_1 = imread( "img_opencv_1.png", 0 );
Mat img_2 = imread( "img_opencv_2.png", 0 );
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 <KeyPoint > keypoints_1, keypoints_2;
detector.detect( img_1, keypoints_1 );
detector.detect( img_2, keypoints_2 );
//-- Draw keypoints
Mat img_keypoints_1; Mat img_keypoints_2;
drawKeypoints( img_1, keypoints_1, img_keypoints_1, Scalar : :all( - 1), DrawMatchesFlags : :DEFAULT );
drawKeypoints( img_2, keypoints_2, img_keypoints_2, Scalar : :all( - 1), DrawMatchesFlags : :DEFAULT );
//-- 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,
//-- 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)*/ 3 *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 < char >(), DrawMatchesFlags : :NOT_DRAW_SINGLE_POINTS );