机器人视觉项目：视觉检测识别+机器人跟随（11）

任务完成情况

参考这篇博客 OpenCV3特征提取和暴力匹配方法 "surf特征提取+匹配"

这篇博客是在opencv3版本上做特征提取的，3.0版本后的surf使用方法和2.0版本有了不同，所以需要做修改，这里参考了其使用的方法重新写了特征匹配的代码。

修改后的tracking_node代码：

/******************************************************************************
*
* The MIT License (MIT)
*
* Copyright (c) 2018 Bluewhale Robot
*
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in all
* copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*
* Author: Randoms
*******************************************************************************/
​
#include "tracking_node.h"
​
//beginging
#include <iostream>
#include <stdio.h>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/xfeatures2d/nonfree.hpp>
#include <opencv2/calib3d.hpp>
#include <opencv2/flann.hpp>
#include <opencv2/xfeatures2d.hpp>
​
//ending
​
using namespace cv;
using namespace std;
using namespace cv::xfeatures2d;
using namespace XiaoqiangTrack;
​
sensor_msgs::Image last_frame;
XiaoqiangTrack::Tracker *tracker = NULL;
Rect2d body_rect;
ros::Publisher image_pub;
ros::Publisher target_pub;
std::mutex update_track_mutex;
int track_ok_flag = 0;
cv::Rect2d previous_body_rect;
cv::Rect2d body_track_rect;
​
sensor_msgs::Image get_one_frame() { return last_frame; }
​
void update_frame(const sensor_msgs::ImageConstPtr &new_frame) //更新帧
{
  last_frame = *new_frame;
  cv_bridge::CvImagePtr cv_ptr =
      cv_bridge::toCvCopy(new_frame, "bgr8"); //图像格式转换
  cv::Mat cv_image = cv_ptr->image;
  if (tracker == NULL)
    return;
  unique_lock<mutex> lock(update_track_mutex);
  previous_body_rect = body_rect;//将检测到的当前rect保存为previous_body_rect
  track_ok_flag = tracker->updateFrame(cv_image, body_rect);
  cv::rectangle(cv_image, body_rect, cv::Scalar(0, 255, 0));
  image_pub.publish(cv_ptr->toImageMsg());
  xiaoqiang_track::TrackTarget target;
  target.x = body_rect.x + body_rect.width / 2;
  target.y = body_rect.y + bod