c++ - 使用RANSAC估算两组点之间的2D变换

据我所知，OpenCV使用RANSAC来解决findHomography的问题，并且它返回一些有用的参数，例如homograph_mask。

但是，如果我只想估算表示仿射矩阵的2D变换，是否有办法使用使用RANSAC并返回该掩码的findHomography的相同方法？

最佳答案

您可以直接使用estimateAffinePartial2D:
https://docs.opencv.org/4.0.0/d9/d0c/group__calib3d.html#gad767faff73e9cbd8b9d92b955b50062d

cv::Mat cv::estimateAffinePartial2D (
    InputArray  from,
    InputArray  to,
    OutputArray     inliers = noArray(),
    int     method = RANSAC,
    double  ransacReprojThreshold = 3,
    size_t  maxIters = 2000,
    double  confidence = 0.99,
    size_t  refineIters = 10
)

例如 :

        src_pts = np.float32([pic1.key_points[m.queryIdx].pt for m in matches]).reshape(-1, 1, 2)
        dst_pts = np.float32([pic2.key_points[m.trainIdx].pt for m in matches]).reshape(-1, 1, 2)

        # Find the transformation between points, standard RANSAC
        transformation_matrix, mask = cv2.findHomography(src_pts, dst_pts, cv2.RANSAC, 5.0)

        # Compute a rigid transformation (without depth, only scale + rotation + translation) and RANSAC
        transformation_rigid_matrix, rigid_mask = cv2.estimateAffinePartial2D(src_pts, dst_pts)