FLANN进行特征点匹配

#include <stdio.h>#include <iostream>#include "opencv2/core/core.hpp"#include "opencv2/features2d/features2d.hpp"#include "opencv2/highgui/highgui.hpp"#include <opencv2/nonfree/features2d.hpp>  #include<opencv2/legacy/legacy.hpp> using namespace cv;void readme();/** @function main */int main(int argc, char** argv){/*if (argc != 3){readme(); return -1;}*///Mat img_1 = imread(argv[1], CV_LOAD_IMAGE_GRAYSCALE);//Mat img_2 = imread(argv[2], CV_LOAD_IMAGE_GRAYSCALE);Mat img_1 = imread("color51.bmp", CV_LOAD_IMAGE_GRAYSCALE);Mat img_2 = imread("color52.bmp", CV_LOAD_IMAGE_GRAYSCALE);if (!img_1.data || !img_2.data){std::cout << " --(!) Error reading images " << std::endl; return -1;}//-- Step 1: Detect the keypoints using SURF Detectorint minHessian = 400;SurfFeatureDetector detector(minHessian);std::vector<KeyPoint> keypoints_1, keypoints_2;detector.detect(img_1, keypoints_1);detector.detect(img_2, keypoints_2);//-- Step 2: Calculate descriptors (feature vectors)SurfDescriptorExtractor extractor;Mat descriptors_1, descriptors_2;extractor.compute(img_1, keypoints_1, descriptors_1);extractor.compute(img_2, keypoints_2, descriptors_2);//-- Step 3: Matching descriptor vectors using FLANN matcherFlannBasedMatcher matcher;std::vector< DMatch > matches;matcher.match(descriptors_1, descriptors_2, matches);double max_dist = 0; double min_dist = 100;//-- Quick calculation of max and min distances between keypointsfor (int i = 0; i < descriptors_1.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 2*min_dist )//-- PS.- radiusMatch can also be used here.std::vector< DMatch > good_matches;for (int i = 0; i < descriptors_1.rows; i++){if (matches[i].distance < 10 * min_dist)//通过距离判定为好的匹配特征{good_matches.push_back(matches[i]);}}//-- Draw only "good" matchesMat img_matches;drawMatches(img_1, keypoints_1, img_2, keypoints_2,good_matches, img_matches, Scalar::all(-1), Scalar::all(-1),vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);//-- Show detected matchesimshow("Good Matches", img_matches);for (int i = 0; i < good_matches.size(); i++){printf("-- Good Match [%d] Keypoint 1: %d  -- Keypoint 2: %d  \n", i, good_matches[i].queryIdx, good_matches[i].trainIdx);}waitKey(0);return 0;}/** @function readme */