根据创建的字典比较图片之间的相似度

#include “DBoW3/DBoW3.h”
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include < iostream>
#include < vector>
#include < string>

using namespace cv;
using namespace std;

/***************************************************

• 本节演示了如何根据前面训练的字典计算相似性评分

• ************************************************/
  int main(int argc, char **argv) {
  // read the images and database
  cout << “reading database” << endl;
  DBoW3::Vocabulary vocab("./vocabulary.yml.gz");加载字典vocab
  // DBoW3::Vocabulary vocab("./vocab_larger.yml.gz"); // use large vocab if you want:
  if (vocab.empty()) {
  cerr << “Vocabulary does not exist.” << endl;
  return 1;
  }
  cout << "reading images… " << endl;
  vector< Mat> images;
  for (int i = 0; i < 10; i++) {
  string path = “/data/” + to_string(i + 1) + “.png”;
  images.push_back(imread(path));
  }

  // NOTE: in this case we are comparing images with a vocabulary generated by themselves, this may lead to overfit.
  // detect ORB features
  cout << "detecting ORB features … " << endl;
  Ptr< Feature2D> detector = ORB::create();
  vector< Mat> descriptors;
  for (Mat &image:images) {
  vector< KeyPoint> keypoints;
  Mat descriptor;
  detector->detectAndCompute(image, Mat(), keypoints, descriptor);加载关键点和描述子
  descriptors.push_back(descriptor);
  }

  // we can compare the images directly or we can compare one image to a database
  // images :比较data下面10副图片之间的相似性，每个图片用图片上的Mat描述子向量来表示
  cout << "comparing images with images " << endl;
  for (int i = 0; i < images.size(); i++) {
  DBoW3::BowVector v1;
  vocab.transform(descriptors[i], v1);把描述子转换成BoW向量，来进行相似度比较
  for (int j = i; j < images.size(); j++) {
  DBoW3::BowVector v2;
  vocab.transform(descriptors[j], v2);
  double score = vocab.score(v1, v2);调用score函数来获得相似度评分
  cout << "image " << i << " vs image " << j << " : " << score << endl;
  }
  cout << endl;
  }

  // or with database
  cout << "comparing images with database " << endl;
  DBoW3::Database db(vocab, false, 0);数据库的索引库初始化为vocab
  for (int i = 0; i < descriptors.size(); i++)
  db.add(descriptors[i]);在数据库的搜索库中额外添加这10个图片的描述子
  cout << "database info: " << db << endl;
  for (int i = 0; i < descriptors.size(); i++) {
  DBoW3::QueryResults ret;
  db.query(descriptors[i], ret, 4); // max result=4，把每个搜索库中的描述子在db数据库进行逐个匹配，将最可能的4个结果放入ret
  cout << "searching for image " << i << " returns " << ret << endl << endl;
  }
  cout << “done.” << endl;
  }