ORB

#include"stdafx.h"
#include<iostream>
#include"opencv2/core/core.hpp"
#include"opencv2/features2d/features2d.hpp"
#include"opencv2/highgui/highgui.hpp"
#include<iostream>
#include<vector> //vector是STL中的一种数据结构，或者叫容器吧。

功能相当于数组，但是强大很多。

vector是C++标准模板库中的部分内容，中文偶尔译作“容器”，但并不准确。

它是一个多功能的，能够操作多种数据结构和算法的模板类和函数库。

vector之所以被认为是一个容器，是因为它能够像容器一样存放各种类型的对象，简单地说，vector是一个能够存放任意类型的动态数组，能够增加和压缩数据。

using namespace cv;
using namespace std;
int main()
{
Mat img_1 = imread("c://IMA1.JPG"); //Mat/imread for C++ //读取两幅图像
Mat img_2 = imread("c://IMA3.JPG");
if (!img_1.data || !img_2.data)
{
cout << "error reading images " << endl;
return -1;
}
ORB orb; //ORB特征类
vector<KeyPoint> keyPoints_1, keyPoints_2; //关键点的矢量，定义了KeyPoint的两个对象keyPoints_1, keyPoints_2 两个动态数组
Mat descriptors_1, descriptors_2;//两个描述子descriptors_1, descriptors_2 Mat表示一个n维的密集型数组
orb(img_1, Mat(), keyPoints_1, descriptors_1);
orb(img_2, Mat(), keyPoints_2, descriptors_2);
BruteForceMatcher<HammingLUT> matcher;
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 keypoints for( 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 0.6*max_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 < 0.6*max_dist )
{
good_matches.push_back( matches[i]);
}
}
Mat 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); imshow( "Match", img_matches);
cvWaitKey();
return 0;
}。