浅析ORB、SURF、SIFT特征点提取方法以及ICP匹配方法

第浅析ORB、SURF、SIFT特征点提取方法以及ICP匹配方法chrono::steady_clock::time_pointt1=chrono::steady_clock::now();

detector-detectAndCompute(temp,Mat(),keypoints_obj,descriptor_obj);

detector-detectAndCompute(image_check_changed,Mat(),keypoints_scene,descriptor_scene);

cout"detect"keypoints_obj.size()"and"keypoints_scene.size"keypoints"endl;

//matching

FlannBasedMatchermatcher;

vectorDMatchmatches;

matcher.match(descriptor_obj,descriptor_scene,matches);

chrono::steady_clock::time_pointt2=chrono::steady_clock::now();

chrono::durationdoubletime_used=chrono::duration_castchrono::durationdouble(t2-t1);

cout"extractandmatchcost="time_used.count()*1000"ms"endl;

//求最小最大距离

doubleminDist=1000;

doublemax_dist=0;

//row--行col--列

for(inti=0;idescriptor_obj.rows;i++)

doubledist=match[i].distance;

if(distmaxDist)

maxDist=dist;

if(distminDist)

minDist=dist;

//printf("maxdistance:%f\n",maxDist);

//printf("mindistance:%f\n",minDist);

//findgoodmatchedpoints

vectorDMatchgoodMatches;

for(imti=0;idescriptor_obj.rows;i++)

doubledist=matches[i].distance;

if(distmax(5*minDist,1.0))

goodMatches.push_back(matches[i]);

//rectangle(temp,Point(1,1),Point(177,157),Scalar(0,0,255),8,0);

cout"match"goodMatches.size()"keypoints"endl;

endTime=clock();

//cout"tooktime:"(double)(endTime-startTime)/CLOCKS_PER_SEC*1000"ms"endl;

MatmatchesImg;

drawMatches(temp,keypoints_obj,image_check_changed,keypoints_scene,goodMatches,

matchesImg,Scalar::all(-1),

Scalar::all(-1),vectorchar(),DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);

if(show_picture)

imshow("FlannMatchingResult01",matchesImg);

//imwrite("C:/Users/Administrator/Desktop/matchesImg04.jpg",matchesImg);

//求h

std::vectorPoint2fpoints1,points2;

//保存对应点

for(size_ti=0;igoodMatches.size();i++)

//queryIdx是对齐图像的描述子和特征点的下标。

points1.push_back(keypoints_obj[goodMatches[i].queryIdx].pt);

//queryIdx是是样本图像的描述子和特征点的下标。

points2.push_back(keypoints_scene[goodMatches[i].trainIdx].pt);

//Findhomography计算Homography，RANSAC随机抽样一致性算法

MatH=findHomography(points1,points2,RANSAC);

//imwrite("C:/Users/Administrator/Desktop/C-train/C-train/result/sift/Image4_SURF_MinHessian1000_minDist1000_a0.9b70.jpg",matchesImg);

vectorPoint2fobj_corners(4);

vectorPoint2fscene_corners(4);

obj_corners[0]=Point(0,0);

obj_corners[0]=Point(temp.count,0);

obj_corners[0]=Point(temp.cols,temp.rows);

obj_corners[0]=Point(0,temp.rows);

//透视变换(把斜的图片扶正)

perspectiveTransform(obj_corners,scene_corners,H);

//Matdst

cvtColor(image_check_changed,image_check_changed,COLOR_GRAY2BGR);

line(image_check_changed,scene_corners[0],scene_corners[1],Scalar(0,0,255),2,8,0);

line(image_check_changed,scene_corners[1],scene_corners[2],Scalar(0,0,255),2,8,0);

line(image_check_changed,scene_corners[2],scene_corners[3],Scalar(0,0,255),2,8,0);

line(image_check_changed,scene_corners[3],scene_corners[0],Scalar(0,0,255),2,8,0);

if(show_picture)

Matoutimg1;

Mattemp_color=imread(picture1,CV_LOAD_IMAGE_COLOR);

drawKeypoints(temp_color,keypoints_obj,outimg1,Scalar::all(-1),DrawMatchesFlags::DEFAULT);

imshow("AKAZEfeatures",outimg1);

if(show_picture)

waitKey(0);

voidextract_ORB(stringpicture1,stringpicture2)

Matimg_1=imread(picture1);

Matimg_2=imread(picture2);

resize(img_1,img_1,Size(),picture1_size_change,picture1_size_change);

resize(img_2,img_2,Size(),picture2_size_change,picture2_size_change);

if(!img_1.data||!img_2.data)

cout"errorreadingimages"endl;

return;

vectorPoint2frecognized;

vectorPoint2fscene;

recognized.resize(1000);

scene.resize(1000);

Matd_srcL,d_srcR;

Matimg_matches,des_L,des_R;

//ORB算法的目标必须是灰度图像

cvtColor(img_1,d_srcL,COLOR_BGR2GRAY);//CPU版的ORB算法源码中自带对输入图像灰度化，此步可省略

cvtColor(img_2,d_srcR,COLOR_BGR2GRAY);

PtrORBd_orb=ORB::create(1500);

Matd_descriptorsL,d_descriptorsR,d_descriptorsL_32F,d_descriptorsR_32F;

vectorKeyPointkeyPoints_1,keyPoints_2;

//设置关键点间的匹配方式为NORM_L2，更建议使用FLANNBASED=1,BRUTEFORCE=2,BRUTEFORCE_L1=3,BRUTEFORCE_HAMMING=4,BRUTEFORCE_HAMMINGLUT=5,BRUTEFORCE_SL2=6