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hy.kim 1 year ago
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07_Feature_Matching/feature-matching.cpp
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#include <iostream>
using namespace std;
#include <opencv2/opencv.hpp>
#include <opencv2/features2d.hpp>
using namespace cv;
void corner_fast()
{
Mat src = imread("building.jpg", IMREAD_GRAYSCALE);
if (src.empty())
{
cerr << "Image load failed !" << endl;
return;
}
vector<KeyPoint> keypoints;
FAST(src, keypoints, 60, true);
Mat dst;
cvtColor(src, dst, COLOR_GRAY2BGR);
for (KeyPoint kp : keypoints)
{
Point pt(cvRound(kp.pt.x), cvRound(kp.pt.y));
circle(dst, pt, 5, Scalar(0, 0, 255), 2);
}
imshow("src", src);
imshow("dst", dst);
imwrite("dst1.png", dst);
waitKey(0);
destroyAllWindows();
}
void detect_keypoints()
{
Mat src = imread("box_in_scene.png", IMREAD_GRAYSCALE);
if (src.empty())
{
cerr << "Image load failed !" << endl;
return;
}
Ptr<Feature2D> feature = ORB::create();
vector<KeyPoint> keypoints;
feature->detect(src, keypoints);
Mat desc;
feature->compute(src, keypoints, desc);
cout << "keypoints.size(): " << keypoints.size() << endl;
cout << "desc.size(): " << desc.size() << endl;
Mat dst;
drawKeypoints(src, keypoints, dst, Scalar::all(-1), DrawMatchesFlags::DRAW_RICH_KEYPOINTS);
imshow("src", src);
imshow("dst", dst);
imwrite("dst2.png", dst);
waitKey();
destroyAllWindows();
}
void keypoint_matching()
{
Mat src1 = imread("box.png", IMREAD_GRAYSCALE);
Mat src2 = imread("box_in_scene.png", IMREAD_GRAYSCALE);
if (src1.empty() || src2.empty())
{
cerr << "Image load failed !" << endl;
return;
}
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);
imwrite("dst3.png", dst);
waitKey();
destroyAllWindows();
}
int main()
{
// ex 14-2) FAST
corner_fast();
// ex 14-4) ORB, Keypoints
detect_keypoints();
// ex 14-6) ORB, Keypoint Matching
keypoint_matching();
}

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