视觉相机1

特征点的生成和匹配

两张不同视角，同一相机拍摄的图片

#include <iostream>
#include <opencv2/opencv.hpp>
#include <opencv2/highgui.hpp> // 添加此行

using namespace std;
using namespace cv; // 添加此行

int main(int argc, char** argv)
{
    namedWindow("show", WINDOW_NORMAL);
    resizeWindow("show", 800, 600);
    
    // read two images
    Mat img1 = imread("/home/ubuntu/Desktop/features point/1.jpg.png");
    Mat img2 = imread("/home/ubuntu/Desktop/features point/2.jpg.png");
    
    // 检查图像是否成功加载
    if (img1.empty() || img2.empty())
    {
        cout << "Error: Failed to load image(s)!" << endl;
        return -1;
    }

    // using gray image to compute
    Mat gray1, gray2;
    cvtColor(img1, gray1, COLOR_BGR2GRAY);
    cvtColor(img2, gray2, COLOR_BGR2GRAY);

    // create orb detector
    Ptr<ORB> orb = ORB::create();

    // create the container of Key points
    vector<KeyPoint> feature_points1, feature_points2;
    // do Orient_FAST detect Keypoint
    orb->detect(gray1, feature_points1);
    orb->detect(gray2, feature_points2);

    // compute the descriptors
    Mat descriptor1, descriptor2;
    orb->compute(gray1, feature_points1, descriptor1);
    orb->compute(gray2, feature_points2, descriptor2);

    // do matching
    // create Matcher
    BFMatcher matcher(NORM_HAMMING); // O(N^2)
    vector<DMatch> pairs;
    matcher.match(descriptor1, descriptor2, pairs);

    // draw the matched pairs and show
    Mat canvas;
    drawMatches(img1, feature_points1, img2, feature_points2, pairs, canvas);
    imshow("show", canvas);
    waitKey(0);

    // You can also filter the match to generate
    vector<DMatch> good;
    double min_dist = 100000;
    // compute the minimum of the distance
    for (const DMatch& m : pairs)
    {
        if (m.distance < min_dist) min_dist = m.distance;
    }
    // filter
    for (const DMatch& m : pairs)
    {
        if (m.distance < max(min_dist * 2, 30.))
        {
            good.push_back(m);
        }
    }
    drawMatches(img1, feature_points1, img2, feature_points2, good, canvas);
    imwrite("../good_match.jpg", canvas);
    imshow("show", canvas);
    waitKey(0);

    // draw the keypoint
    drawKeypoints(img1, feature_points1, canvas, Scalar::all(-1), DrawMatchesFlags::DRAW_RICH_KEYPOINTS);
    imwrite("../keypoints.jpg", canvas);
    imshow("show", canvas);
    waitKey(0);

    // 释放窗口资源
    destroyAllWindows();

    return 0;
}

结果图