OpenCV使用FLANN进行特征点匹配

使用FLANN进行特征点匹配

目标

在本教程中我们将涉及以下内容:

• 使用 FlannBasedMatcher 接口以及函数 FLANN 实现快速高效匹配( 快速最近邻逼近搜索函数库(Fast Approximate Nearest Neighbor Search Library) )

理论

代码

这个教程的源代码如下所示。你还可以从 以下链接下载得到源代码

#include <stdio.h>
#include <iostream>
#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<KeyPoint> 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<char>(), 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 <img1> <img2>" << std::endl; }

解释

结果

1. 这里是第一张图特征点检测结果:

   

2. 此外我们通过控制台输出FLANN匹配关键点结果:

   

翻译者

Shuai Zheng, <kylezheng04@gmail.com>, http://www.cbsr.ia.ac.cn/users/szheng/

from: http://www.opencv.org.cn/opencvdoc/2.3.2/html/doc/tutorials/features2d/feature_flann_matcher/feature_flann_matcher.html#feature-flann-matcher