ORB特征检测与匹配

ORB特征原理：http://blog.csdn.net/quincuntial/article/details/50461715

/*
 *@function ORB_Detect.cpp
 *@brief 使用ORB特征对目标进行检测和匹配
 *@author ltc
 *@date 14:45 Thursday，December 3rd，2015
*/
#include<opencv2\core\core.hpp>
#include<opencv2\highgui\highgui.hpp>
#include<opencv2\features2d\features2d.hpp>
#include<opencv2\calib3d\calib3d.hpp>
#include<iostream>

using namespace std;
using namespace cv;

vector<DMatch> ransac(vector<KeyPoint> queryKeyPoint,vector<KeyPoint> trainKeyPoint,vector<DMatch> matches);

int main(int argc,char* argv[])
{
	Mat queryImage,trainImage;

	queryImage=imread("4.jpg",IMREAD_COLOR);
	trainImage=imread("3.jpg",IMREAD_COLOR);

	ORB orb;

	vector<KeyPoint> queryKeyPoint,trainKeyPoint;
	Mat queryDescriptor,trainDescriptor;

	orb(queryImage,Mat(),queryKeyPoint,queryDescriptor);
	orb(trainImage,Mat(),trainKeyPoint,trainDescriptor);

	drawKeypoints(queryImage,queryKeyPoint,queryImage);
	drawKeypoints(trainImage,trainKeyPoint,trainImage);

	cout<<queryKeyPoint.size()<<endl;
	cout<<trainKeyPoint.size()<<endl;
	
	imshow("query",queryImage);
	imshow("train",trainImage);

	//NORM_L1, NORM_L2, NORM_HAMMING, NORM_HAMMING2
	BFMatcher matcher(NORM_L2);
	
	vector<DMatch> matches;
	matcher.match(queryDescriptor,trainDescriptor,matches);

	vector<DMatch> ransac_matches;
	ransac_matches=ransac(queryKeyPoint,trainKeyPoint,matches);
	
	Mat image_match;
//	drawMatches(queryImage,queryKeyPoint,trainImage,trainKeyPoint,matches,image_match);
	drawMatches(queryImage,queryKeyPoint,trainImage,trainKeyPoint,ransac_matches,image_match);
	
	imshow("image_match",image_match);
	waitKey(0);

	return 0;
}
vector<DMatch> ransac(vector<KeyPoint> queryKeyPoint,vector<KeyPoint> trainKeyPoint,vector<DMatch> matches)
{
	vector<DMatch> ransac_matches;
	vector<Point2f> queryPoint(matches.size()),trainPoint(matches.size());
	for(int i=0;i<matches.size();i++)
	{
		queryPoint[i]=queryKeyPoint[matches[i].queryIdx].pt;
		trainPoint[i]=trainKeyPoint[matches[i].trainIdx].pt;
	}
	vector<unsigned char> inlierMask(matches.size());
	Mat H=findHomography(queryPoint,trainPoint,RANSAC,3,inlierMask);
	
	for(size_t i=0;i<inlierMask.size();i++)
	{
		if(inlierMask[i])
		{
			ransac_matches.push_back(matches[i]);
		}
	}
	return ransac_matches;
}

匹配结果：