#include <chrono>
#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/opencv.hpp>
using namespace std;
using namespace cv;
int main(int argc, char **argv) {
if (argc != 3) {
cout << "usage: feature_extraction img1 img2" << endl;
return 1;
}
//-- 读取图像
Mat img_1 = imread(argv[1], CV_LOAD_IMAGE_COLOR);
Mat img_2 = imread(argv[2], CV_LOAD_IMAGE_COLOR);
VideoCapture vc("bbb.mp4");
vc >> img_1;
imwrite("img1.png", img_1);
//-- 初始化
std::vector<KeyPoint> keypoints_1, keypoints_2;
Mat descriptors_1, descriptors_2;
Ptr<FeatureDetector> detector = ORB::create();
Ptr<DescriptorExtractor> descriptor = ORB::create();
Ptr<DescriptorMatcher> matcher =
DescriptorMatcher::create("BruteForce-Hamming");
detector->detect(img_1, keypoints_1);
descriptor->compute(img_1, keypoints_1, descriptors_1);
Mat outimg1;
drawKeypoints(img_1, keypoints_1, outimg1, Scalar::all(-1),
DrawMatchesFlags::DEFAULT);
imshow("ORB features", outimg1);
waitKey(3);
while (1) {
vc >> img_2;
assert(img_1.data != nullptr && img_2.data != nullptr);
Mat show;
pyrDown(img_2, show);
imshow("curent raw pydown", show);
//-- 第一步:检测 Oriented FAST 角点位置
chrono::steady_clock::time_point t1 = chrono::steady_clock::now();
detector->detect(img_2, keypoints_2);
//-- 第二步:根据角点位置计算 BRIEF 描述子
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;
drawKeypoints(img_2, keypoints_2, outimg1, Scalar::all(-1),
DrawMatchesFlags::DEFAULT);
vector<Point2f> pts;
for (int ti = 0; ti < keypoints_2.size(); ti++)
pts.push_back(keypoints_2[ti].pt);
RotatedRect r = minAreaRect(pts);
// std::cout<<keypoints_2[0].pt.x<<std::endl;
// rectangle(, r.tl(),r.br(), (0, 0, 255), 2, 8, 0);
rectangle(outimg1, r.boundingRect(), Scalar(255, 1, 0));
pyrDown(outimg1, show);
// imshow("all matches", img_match);
// imshow("good matches", );
imshow("ORB features", show);
//-- 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
// 计算最小距离和最大距离
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("-- Max dist : %f \n", max_dist);
printf("-- Min 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.但有时候最小距离会非常小,设置一个经验值30作为下限.
std::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);
pyrDown(img_goodmatch, show);
// imshow("all matches", img_match);
imshow("good matches", show);
waitKey(1);
}
return 0;
}
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