opencv-Features2D+Homography to find a known object
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use the function findHomography to find the transform between matched keypoints.
use the function perspectiveTransform to map the points.
/** * @file SURF_Homography * @brief SURF detector + descriptor + FLANN Matcher + FindHomography * @author A. Huaman */#include <stdio.h>#include <iostream>#include "opencv2/core/core.hpp"#include "opencv2/features2d/features2d.hpp"#include "opencv2/highgui/highgui.hpp"#include "opencv2/calib3d/calib3d.hpp"#include "opencv2/nonfree/features2d.hpp"using namespace cv;void readme();/** * @function main * @brief Main function */int main( int argc, char** argv ){ if( argc != 3 ) { readme(); return -1; } Mat img_object = imread( argv[1], CV_LOAD_IMAGE_GRAYSCALE ); Mat img_scene = imread( argv[2], CV_LOAD_IMAGE_GRAYSCALE ); if( !img_object.data || !img_scene.data ) { std::cout<< " --(!) Error reading images " << std::endl; return -1; } //-- Step 1: Detect the keypoints using SURF Detector int minHessian = 400; SurfFeatureDetector detector( minHessian ); std::vector<KeyPoint> keypoints_object, keypoints_scene; detector.detect( img_object, keypoints_object ); detector.detect( img_scene, keypoints_scene ); //-- Step 2: Calculate descriptors (feature vectors) SurfDescriptorExtractor extractor; Mat descriptors_object, descriptors_scene; extractor.compute( img_object, keypoints_object, descriptors_object ); extractor.compute( img_scene, keypoints_scene, descriptors_scene ); //-- Step 3: Matching descriptor vectors using FLANN matcher FlannBasedMatcher matcher; std::vector< DMatch > matches; matcher.match( descriptors_object, descriptors_scene, matches ); double max_dist = 0; double min_dist = 100; //-- Quick calculation of max and min distances between keypoints for( int i = 0; i < descriptors_object.rows; i++ ) { double dist = matches[i].distance; if( dist < min_dist ) min_dist = dist; if( dist > max_dist ) max_dist = dist; } printf("-- Max dist : %f \n", max_dist ); printf("-- Min dist : %f \n", min_dist ); //-- Draw only "good" matches (i.e. whose distance is less than 3*min_dist ) std::vector< DMatch > good_matches; for( int i = 0; i < descriptors_object.rows; i++ ) { if( matches[i].distance < 3*min_dist ) { good_matches.push_back( matches[i]); } } Mat img_matches; drawMatches( img_object, keypoints_object, img_scene, keypoints_scene, good_matches, img_matches, Scalar::all(-1), Scalar::all(-1), vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS ); //-- Localize the object from img_1 in img_2 std::vector<Point2f> obj; std::vector<Point2f> scene; for( int i = 0; i < good_matches.size(); i++ ) { //-- Get the keypoints from the good matches obj.push_back( keypoints_object[ good_matches[i].queryIdx ].pt ); scene.push_back( keypoints_scene[ good_matches[i].trainIdx ].pt ); } Mat H = findHomography( obj, scene, CV_RANSAC ); //-- Get the corners from the image_1 ( the object to be "detected" ) std::vector<Point2f> obj_corners(4); obj_corners[0] = cvPoint(0,0); obj_corners[1] = cvPoint( img_object.cols, 0 ); obj_corners[2] = cvPoint( img_object.cols, img_object.rows ); obj_corners[3] = cvPoint( 0, img_object.rows ); std::vector<Point2f> scene_corners(4); perspectiveTransform( obj_corners, scene_corners, H); //-- Draw lines between the corners (the mapped object in the scene - image_2 ) line( img_matches, scene_corners[0] + Point2f( img_object.cols, 0), scene_corners[1] + Point2f( img_object.cols, 0), Scalar(0, 255, 0), 4 ); line( img_matches, scene_corners[1] + Point2f( img_object.cols, 0), scene_corners[2] + Point2f( img_object.cols, 0), Scalar( 0, 255, 0), 4 ); line( img_matches, scene_corners[2] + Point2f( img_object.cols, 0), scene_corners[3] + Point2f( img_object.cols, 0), Scalar( 0, 255, 0), 4 ); line( img_matches, scene_corners[3] + Point2f( img_object.cols, 0), scene_corners[0] + Point2f( img_object.cols, 0), Scalar( 0, 255, 0), 4 ); //-- Show detected matches imshow( "Good Matches & Object detection", img_matches ); waitKey(0); return 0;}/** * @function readme */void readme(){ std::cout << " Usage: ./SURF_Homography <img1> <img2>" << std::endl; }
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