#include <iostream>
#include <opencv2/opencv.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include "highgui.h"
#include <chrono>
using namespace std;
using namespace cv;
int main(int argc, char** argv) {
//读取图像
Mat img_1 = imread("H:/Chutu/000000.png");
Mat img_2 = imread("H:/Chutu/000000.png");
assert(img_1.data != nullptr && img_2.data != nullptr);
//初始化
vector<KeyPoint> keypoints_1, keypoints_2;//关键点
Mat descriptors_1, descriptors_2;//描述子
Ptr<FeatureDetector> detector = ORB::create();
Ptr<DescriptorExtractor> descriptor = ORB::create();
Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create("BruteForce-Hamming");//暴力匹配
//--第一步检测Oriented FAST角点位置
chrono::steady_clock::time_point t1 = chrono::steady_clock::now();
detector->detect(img_1, keypoints_1);
detector->detect(img_2, keypoints_2);
//--第二步根据角点位置计算BRIEF描述子
descriptor->compute(img_1, keypoints_1, descriptors_1);
descriptor->compute(img_2, keypoints_2, descriptors_2);
chrono::steady_clock::time_point t2 = chrono::steady_clock::now();
chrono::duration<double> time_used = chrono::duration_cast<chrono::duration<double>>(t2 - t1);
cout << "extract ORB cost = " << time_used.count() << "seconds" << endl;
Mat outimg1;
drawKeypoints(img_1, keypoints_1, outimg1, Scalar::all(-1), DrawMatchesFlags::DEFAULT);
imshow("ORB features", outimg1);
//--第三步:对两幅图像中的BRIEF描述子进行匹配,使用Hamming距离
vector<DMatch> matches;
t1 = chrono::steady_clock::now();
matcher->match(descriptors_1, descriptors_2, matches);
t2 = chrono::steady_clock::now();
time_used = chrono::duration_cast<chrono::duration<double>> (t2 - t1);
cout << "match ORB cost = " << time_used.count() << "seconds." << endl;
//--第四步:匹配点对筛选
auto min_max = minmax_element(matches.begin(), matches.end(),
[](const DMatch &m1, const DMatch &m2) {return m1.distance < m2.distance; });
double min_dist = min_max.first->distance;
double max_dist = min_max.second->distance;
printf("-- Mat dist : %f \n", max_dist);
printf("-- Mat dist : %f \n", min_dist);
//当描述子之间的距离大于两倍的最小距离时,即认为匹配有误。但是有时最小距离会非常小,所以要设置一个经验值30作为下限
vector<DMatch> good_matches;
for (int i = 0; i < descriptors_1.rows; i++) {
if (matches[i].distance <= max(2 * min_dist, 30.0)) {
good_matches.push_back(matches[i]);
}
}
//--第五步:绘制匹配结果
Mat img_match;
Mat img_goodmatch;
drawMatches(img_1, keypoints_1, img_2, keypoints_2, matches, img_match);
drawMatches(img_1, keypoints_1, img_2, keypoints_2, good_matches, img_goodmatch);
imshow("all matches", img_match);
imshow("good matches", img_goodmatch);
waitKey(0);
DMatch m{ 0,0,256 };
return 0;
}
ORB特征匹配
最新推荐文章于 2022-06-20 01:33:45 发布