我是使用openCv,FAST特征检测和强力匹配的立体图像之间的特征匹配。
FastFeatureDetector detector(threshold);
detector.detect(img1, keypoints1);
detector.detect(img2, keypoints2);
OrbDescriptorExtractor extractor;
extractor.compute(img1, keypoints1, descriptors1);
extractor.compute(img2, keypoints2, descriptors2);
BFMatcher matcher(NORM_L2);
matcher.match(descriptors1, descriptors2, matches);
我想做什么,左边框架上的跟踪点是否使用光流,然后使用特征匹配匹配右框架上的那些点。
是否可以为要匹配的点的像素坐标提供特征匹配功能?
答案 0 :(得分:1)
您不能将此指定给匹配器,但可以在提取时限制点。在您的代码中, keypoints1 和 keypoints2 可以是您希望仅匹配的点的提取器的输入。因此,您应该执行以下操作:
// perform "optical flow tracking" and get some points
// for left and right frame
// convert them to cv::KeyPoint
// cv::KeyPoint keypoints1; // left frames
// cv::KeyPoint keypoints1; // right frames
// extract feature for those points only
OrbDescriptorExtractor extractor;
extractor.compute(img1, keypoints1, descriptors1);
extractor.compute(img2, keypoints2, descriptors2);
// match for the descriptors computed at the pixel coordinates
// given by the "optical flow tracking" only
BFMatcher matcher(NORM_L2);
matcher.match(descriptors1, descriptors2, matches);