FlannBasedMatcher 立体匹配

#include "opencv2/core/core.hpp"

#include "opencv2/features2d/features2d.hpp"

#include "opencv2/highgui/highgui.hpp"

#include <opencv2/nonfree/nonfree.hpp>

#include<opencv2/legacy/legacy.hpp>

#include <iostream>

using namespace cv;

using namespace std;

int main(  )

{

    //【0】改变console字体颜色

    system("color 4F");

    //【1】载入源图片

    Mat img_1 = imread("1.jpg",  );

    Mat img_2 = imread( "2.jpg",  );//【2】利用SURF检测器检测的关键点

    int minHessian = ;

    SURF detector( minHessian );

    std::vector<KeyPoint> keypoints_1, keypoints_2;

    detector.detect( img_1, keypoints_1 );

    detector.detect( img_2, keypoints_2 );

    //【3】计算描述符（特征向量）

    SURF extractor;

    Mat descriptors_1, descriptors_2;

    extractor.compute( img_1, keypoints_1, descriptors_1 );

    extractor.compute( img_2, keypoints_2, descriptors_2 );

    //【4】采用FLANN算法匹配描述符向量

    FlannBasedMatcher matcher;

    std::vector< DMatch > matches;

    matcher.match( descriptors_1, descriptors_2, matches );

    double max_dist = ; double min_dist = ;

    //【5】快速计算关键点之间的最大和最小距离

    for( int i = ; i < descriptors_1.rows; i++ )

    {

        double dist = matches[i].distance;

        if( dist < min_dist ) min_dist = dist;

        if( dist > max_dist ) max_dist = dist;

    }

    //输出距离信息

    printf("> 最大距离（Max dist） : %f \n", max_dist );

    printf("> 最小距离（Min dist） : %f \n", min_dist );

    //【6】存下符合条件的匹配结果（即其距离小于2* min_dist的），使用radiusMatch同样可行

    std::vector< DMatch > good_matches;

    for( int i = ; i < descriptors_1.rows; i++ )

    {

        if( matches[i].distance < *min_dist )

        { good_matches.push_back( matches[i]); }

    }

    //【7】绘制出符合条件的匹配点

    Mat img_matches;

    drawMatches( img_1, keypoints_1, img_2, keypoints_2,

        good_matches, img_matches, Scalar::all(-), Scalar::all(-),

        vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );

    //【8】输出相关匹配点信息

    for( int i = ; i < good_matches.size(); i++ )

    { printf( ">符合条件的匹配点 [%d] 特征点1: %d  -- 特征点2: %d  \n", i, good_matches[i].queryIdx, good_matches[i].trainIdx ); }

    //【9】显示效果图

    imshow( "匹配效果图", img_matches );

    //按任意键退出程序

    waitKey();

    return ;

}