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2025-05-21 12:11:58 +09:00
parent 9ca329482a
commit d65e1aeed5
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ch14/matching/main.cpp Normal file
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#include <iostream>
#include "opencv2/opencv.hpp"
using namespace std;
using namespace cv;
void keypoint_matching() {
Mat src1 = imread("../../resources/images/box.png", IMREAD_GRAYSCALE);
Mat src2 = imread("../../resources/images/box_in_scene.png", IMREAD_GRAYSCALE);
Ptr<Feature2D> feature = ORB::create();
vector<KeyPoint> keypoints1, keypoints2;
Mat desc1, desc2;
feature->detectAndCompute(src1, Mat(), keypoints1, desc1);
feature->detectAndCompute(src2, Mat(), keypoints2, desc2);
Ptr<DescriptorMatcher> matcher = BFMatcher::create(NORM_HAMMING);
vector<DMatch> matches;
matcher->match(desc1, desc2, matches);
Mat dst;
drawMatches(src1, keypoints1, src2, keypoints2, matches, dst);
imshow("dst", dst);
waitKey(0);
destroyAllWindows();
}
void good_matching() {
Mat src1 = imread("../../resources/images/box.png", IMREAD_GRAYSCALE);
Mat src2 = imread("../../resources/images/box_in_scene.png", IMREAD_GRAYSCALE);
Ptr<Feature2D> feature = ORB::create();
vector<KeyPoint> keypoints1, keypoints2;
Mat desc1, desc2;
feature->detectAndCompute(src1, Mat(), keypoints1, desc1);
feature->detectAndCompute(src2, Mat(), keypoints2, desc2);
Ptr<DescriptorMatcher> matcher = BFMatcher::create(NORM_HAMMING);
vector<DMatch> matches;
matcher->match(desc1, desc2, matches);
sort(matches.begin(), matches.end());
vector<DMatch> good_matches(matches.begin(), matches.begin() + 50);
Mat dst;
drawMatches(src1, keypoints1, src2, keypoints2, good_matches, dst, Scalar::all(-1), Scalar::all(-1), vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);
imshow("dst", dst);
waitKey(0);
destroyAllWindows();
}
void find_homography() {
Mat src1 = imread("../../resources/images/box.png", IMREAD_GRAYSCALE);
Mat src2 = imread("../../resources/images/box_in_scene.png", IMREAD_GRAYSCALE);
Ptr<Feature2D> orb = ORB::create();
vector<KeyPoint> keypoints1, keypoints2;
Mat desc1, desc2;
orb->detectAndCompute(src1, Mat(), keypoints1, desc1);
orb->detectAndCompute(src2, Mat(), keypoints2, desc2);
Ptr<DescriptorMatcher> matcher = BFMatcher::create(NORM_HAMMING);
vector<DMatch> matches;
matcher->match(desc1, desc2, matches);
sort(matches.begin(), matches.end());
vector<DMatch> good_matches(matches.begin(), matches.begin() + 50);
Mat dst;
drawMatches(src1, keypoints1, src2, keypoints2, good_matches, dst, Scalar::all(-1), Scalar::all(-1), vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);
vector<Point2f> pts1, pts2;
for (size_t i = 0; i < good_matches.size(); i++) {
pts1.push_back(keypoints1[good_matches[i].queryIdx].pt);
pts2.push_back(keypoints2[good_matches[i].trainIdx].pt);
}
Mat H = findHomography(pts1, pts2, RANSAC);
vector<Point2f> corners1, corners2;
corners1.emplace_back(0.f, 0.f);
corners1.emplace_back(src1.cols - 1.f, 0.f);
corners1.emplace_back(src1.cols - 1.f, src1.rows - 1.f);
corners1.emplace_back(0.f, src1.rows - 1.f);
perspectiveTransform(corners1, corners2, H);
vector<Point> corners_dst;
for (Point2f pt : corners2) {
corners_dst.emplace_back(cvRound(pt.x + src1.cols), cvRound(pt.y));
}
polylines(dst, corners_dst, true, Scalar(0, 255, 0), 2, LINE_AA);
imshow("dst", dst);
waitKey(0);
destroyAllWindows();
}
int main() {
find_homography();
}