画特征点 drawKeypoints 函数

前期准备，读取图像，检测ORB特征点

//读取图像
cv::Mat img_1 = cv::imread(argv[1], CV_LOAD_IMAGE_COLOR);
//创建特征点合集
std::vector<cv::KeyPoint> keypoints_1;
//ORB关键点检测函数
cv::Ptr<cv::FeatureDetector> detector = cv::ORB::create();
//检测ORB特征点
detector->detect(img_1, keypoints_1);

画特征点

//输出图像
Mat outimg1;
//输入影像、关键点、输出影像、颜色、标志
drawKeypoints(img_1, keypoints_1, outimg1, Scalar::all(-1), DrawMatchesFlags::DEFAULT);
//显示影像
imshow("ORB features", outimg1);

drawKeypoints 函数参数为：
image – Source image.
keypoints – Keypoints from the source image.
outImage – Output image. Its content depends on the flags value defining what is drawn in the output image. See possible flags bit values below.
color – Color of keypoints.
flags – Flags setting drawing features. Possible flags bit values are defined by DrawMatchesFlags. See details above in drawMatches .

绘制匹配结果 drawMatches函数

  cv::Mat img_1 = cv::imread(argv[1], CV_LOAD_IMAGE_COLOR);cv::Mat img_2 = cv::imread(argv[2], CV_LOAD_IMAGE_COLOR);//-- 初始化std::vector<cv::KeyPoint> keypoints_1, keypoints_2;cv::Mat descriptors_1, descriptors_2;cv::Ptr<cv::FeatureDetector> detector = cv::ORB::create();cv::Ptr<cv::DescriptorExtractor> descriptor = cv::ORB::create();cv::Ptr<cv::DescriptorMatcher> matcher = cv::DescriptorMatcher::create("BruteForce-Hamming");//-- 第一步:检测 Oriented FAST 角点位置detector->detect(img_1, keypoints_1);detector->detect(img_2, keypoints_2);//-- 第二步:根据角点位置计算 BRIEF 描述子descriptor->compute(img_1, keypoints_1, descriptors_1);descriptor->compute(img_2, keypoints_2, descriptors_2);//-- 第三步:对两幅图像中的BRIEF描述子进行匹配，使用 Hamming 距离vector<cv::DMatch> matches;matcher->match(descriptors_1, descriptors_2, matches);//-- 第四步:绘制匹配结果Mat img_match;drawMatches(img_1, keypoints_1, img_2, keypoints_2, matches, img_match);imshow("all matches", img_match);

drawMatches 函数参数:
img1 – First source image.
keypoints1 – Keypoints from the first source image.
img2 – Second source image.
keypoints2 – Keypoints from the second source image.
matches1to2 – Matches from the first image to the second one, which means that keypoints1[i] has a corresponding point in keypoints2[matches[i]] .
outImg – Output image. Its content depends on the flags value defining what is drawn in the output image. See possible flags bit values below.
matchColor – Color of matches (lines and connected keypoints). If matchColor== Scalar::all(-1) , the color is generated randomly.
singlePointColor – Color of single keypoints (circles), which means that keypoints do not have the matches. If singlePointColor==Scalar::all(-1) , the color is generated randomly.
matchesMask – Mask determining which matches are drawn. If the mask is empty, all matches are drawn.
flags – Flags setting drawing features. Possible flags bit values are defined by DrawMatchesFlags. This function draws matches of keypoints from two images in the output image. Match is a line connecting two keypoints (circles). See cv::DrawMatchesFlags.

opencv 画orb特征点相关推荐

opencv 基于ORB特征点图像拼接
原图 #include <iostream> #include <opencv2/opencv.hpp> #include <opencv.hpp>using na ...
java opencv orb_OpenCV提取ORB特征并匹配
一.什么是特征? 图像的特征(Feature),是图像上最具代表性的一些点.所谓最具代表性,就是说这些点包含了图像表述的大部分信息.即使旋转.缩放,甚至调整图像的亮度,这些点仍然稳定地存在,不会丢失. ...
opencv与ORB SLAM提取orb特征点比较
在ORB SLAM中,通过四叉树的方式存储关键点,使得图像上特征点分布均匀,便于追踪.此次实验分别用opencv接口和ORB SLAM实现特征点的提取,效果图如下: 实现程序: #include &l ...
视觉SLAM——ORB特征
一.OpenCV 的ORB 特征--slambook2/ch7/orb_ cv.cpp #include <iostream> #include <opencv2/core/core ...
基于OpenCV＆ORB和特征匹配的双视频图像拼接（源码＆部署教程）
1.双视频拼接效果展示 2.视频演示 [项目分享]Python基于OpenCV&ORB和特征匹配的双视频图像拼接(源码&部署教程)_哔哩哔哩_bilibili 3.背景随着汽车电子和 ...
Python基于OpenCV＆ORB和特征匹配的双视频图像拼接（源码＆部署教程）
1.双视频拼接效果展示 2.视频演示 [项目分享]Python基于OpenCV&ORB和特征匹配的双视频图像拼接(源码&部署教程)_哔哩哔哩_bilibili 3.背景随着汽车电子和 ...
opencv上gpu版surf特征点与orb特征点提取及匹配实例
opencv上gpu版surf特征点与orb特征点提取及匹配实例标签: gpu版surfgpu orbsurf和orbgpu surf及orbsurf orb gpu 2016-09-25 23:4 ...
ORB特征描述原理、python实现及基于opencv实现
写在前面: 黄宁然,看你看过的算法系列*,不如,就到此吧. 参考文献镇楼: [1]汪洋,扫地机器人定位算法设计与嵌入式系统实现 [2]王雯涛,ORB图像特征提取算法的FPGA设计与实现 [3]房亮,基 ...
Android OpenCV（五十七）：ORB特征点FLANN匹配
前言 Android OpenCV 系列的上一篇文章中,我们学习了 ORB 特征点的暴力匹配方式.复习一下,暴力匹配法会针对查询描述子中的每个描述符在训练描述子中寻找匹配描述子,算法复杂度是 O( n ...

opencv 画orb特征点

ORB关键点

画特征点 drawKeypoints 函数

绘制匹配结果 drawMatches函数

opencv 画orb特征点相关推荐

最新文章

热门文章