1.算法:surf特征提取算法
SURF算法是著名的尺度不变特征检测器SIFT(Scale-Invariant Features Transform)的高效变种,它为每个检测到的特征定义了位置和尺度,其中尺度的值可用于定义围绕特征点的窗口大小,使得每个特征点都与众不同。这里便是使用SURF算法提取两幅图像中的特征点描述子,并调用OpenCV中的函数进行匹配,
2 代码
//特征检测与匹配
#include <iostream>
#include <stdio.h>
#include "opencv2/core.hpp"
#include "opencv2/core/utility.hpp"
#include "opencv2/core/ocl.hpp"
#include "opencv2/imgcodecs.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/features2d.hpp"
#include "opencv2/calib3d.hpp"
#include "opencv2/imgproc.hpp"
#include"opencv2/flann.hpp"
#include"opencv2/xfeatures2d.hpp"
#include"opencv2/ml.hpp"
using namespace cv;
using namespace std;
using namespace cv::xfeatures2d;
using namespace cv::ml;
int main()
{
//对BGR空间的图像直接进行计算很费时间,所以,需要转换为灰度图
Mat a = imread("/home/daniel/catkin_ws/src/cvbridge/src/1.jpg", IMREAD_GRAYSCALE); //读取灰度图像
Mat b = imread("/home/daniel/catkin_ws/src/cvbridge/src/2.jpg", IMREAD_GRAYSCALE);
Ptr<SURF> surf; //创建方式和2中的不一样
surf = SURF::create(800);
//先对原图的描述子进行保留
BFMatcher matcher;
Mat c, d;
// 首先对两幅图像进行特征点的检测和描述子的计算
vector<KeyPoint>key1, key2;
vector<DMatch> matches;
surf->detectAndCompute(a, Mat(), key1, c);
surf->detectAndCompute(b, Mat(), key2, d);
matcher.match(c, d, matches); //匹配
sort(matches.begin(), matches.end()); //筛选匹配点
vector< DMatch > good_matches; //采集优秀的匹配点
int ptsPairs = std::min(50, (int)(matches.size() * 0.15));
cout << ptsPairs << endl;
for (int i = 0; i < ptsPairs; i++)
{
good_matches.push_back(matches[i]);
}
Mat outimg;
drawMatches(a, key1, b, key2, good_matches, outimg, Scalar::all(-1), Scalar::all(-1),vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS); //绘制匹配点
std::vector<Point2f> obj;
std::vector<Point2f> scene;
for (size_t i = 0; i < good_matches.size(); i++)
{
obj.push_back(key1[good_matches[i].queryIdx].pt);
scene.push_back(key2[good_matches[i].trainIdx].pt);
}
std::vector<Point2f> obj_corners(4);
obj_corners[0] = Point(0, 0);
obj_corners[1] = Point(a.cols, 0);
obj_corners[2] = Point(a.cols, a.rows);
obj_corners[3] = Point(0, a.rows);
std::vector<Point2f> scene_corners(4);
Mat H = findHomography(obj, scene, RANSAC); //寻找匹配的图像
perspectiveTransform(obj_corners, scene_corners, H);
line(outimg,scene_corners[0] + Point2f((float)a.cols, 0), scene_corners[1] + Point2f((float)a.cols, 0),Scalar(0, 255, 0), 2, LINE_AA); //绘制
line(outimg,scene_corners[1] + Point2f((float)a.cols, 0), scene_corners[2] + Point2f((float)a.cols, 0),Scalar(0, 255, 0), 2, LINE_AA);
line(outimg,scene_corners[2] + Point2f((float)a.cols, 0), scene_corners[3] + Point2f((float)a.cols, 0),Scalar(0, 255, 0), 2, LINE_AA);
line(outimg,scene_corners[3] + Point2f((float)a.cols, 0), scene_corners[0] + Point2f((float)a.cols, 0),Scalar(0, 255, 0), 2, LINE_AA);
// if(!outimg.empty())
imshow("aaaa",outimg);
cvWaitKey(0);
}
3 错误集锦
这个错误折腾了好几天,一直还以为是opencv版本的问题,所以就一直各种卸载安装,最终解决办法:
我是在ubuntu下做的,就把catkin_ws工作空间下的devel和build文件夹删了,重新执行
catkin_make
rosrun cvbridge cvbridge
终于好了。。。