FLANN进行特征点匹配

#include <stdio.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/legacy/legacy.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); Mat img_1 = imread("color51.bmp", CV_LOAD_IMAGE_GRAYSCALE); Mat img_2 = imread("color52.bmp", 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 < 10 * min_dist)//通过距离判定为好的匹配特征 { 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 */