使用自己的数据集训练DB

基于下载的DBoW3源码DBow3-master\DBow3-master\utils路径下的demo_general.cpp修改
需要调用的库：https://blog.csdn.net/Z5122/article/details/83998692

/**
* Date:  2016
* Author: Rafael Muñoz Salinas
* Description: demo application of DBoW3
* License: see the LICENSE.txt file
*/
#include <iostream>
#include <io.h>
#include <vector>
// DBoW3
#include "DBoW3.h"
// OpenCV
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/xfeatures2d/nonfree.hpp>
#include <opencv2/xfeatures2d.hpp>
#include "DescManip.h"

using namespace DBoW3;
using namespace std;

void getFiles(string path, vector<string>& files)
{
  long long hFile = 0;
  struct _finddata_t fileinfo;
  string p;
  if ((hFile = _findfirst(p.assign(path).append("\\*").c_str(), &fileinfo)) != -1) 
  { 
    do
    {
        if ((fileinfo.attrib &  _A_SUBDIR))
        {
          if (strcmp(fileinfo.name, ".") != 0 && strcmp(fileinfo.name, "..") != 0)
            getFiles(p.assign(path).append("\\").append(fileinfo.name), files);
        }
        else 
        {
          files.push_back(p.assign(path).append("\\").append(fileinfo.name));
        }
    }while (_findnext(hFile, &fileinfo) == 0);
    _findclose(hFile);  
  }
}

std::vector<string> path_to_images;
string path = "设置数据集路径";

vector< cv::Mat  >  loadFeatures(std::vector<string> path_to_images, string descriptor = "") throw (std::exception) {
  cv::Ptr<cv::Feature2D> fdetector;
  if (descriptor == "orb")
  fdetector = cv::ORB::create();
  else if (descriptor == "brisk") 
  fdetector = cv::BRISK::create();
  else if (descriptor == "surf")  fdetector = cv::xfeatures2d::SURF::create(1000);
  else throw std::runtime_error("Invalid descriptor");
  assert(!descriptor.empty());
  vector<cv::Mat> features;

  cout << "Extracting   features..." << endl;
  for (size_t i = 0; i < path_to_images.size(); ++i)
  {
    vector<cv::KeyPoint> keypoints;
    cv::Mat descriptors;
    cout << "reading image: " << path_to_images[i] << endl;
    cv::Mat image = cv::imread(path_to_images[i], 0);
    if (image.empty())throw std::runtime_error("Could not open image" + path_to_images[i]);
    cout << "extracting features" << endl;
    fdetector->detectAndCompute(image, cv::Mat(), keypoints, descriptors);
    features.push_back(descriptors);
    cout << "done detecting features" << endl;
  }
  return features;
}

void testVocCreation(const vector<cv::Mat> &features)
{
  // 设置词汇树参数
  const int k = 9;
  const int L = 3; 
  const WeightingType weight = TF_IDF;
  const ScoringType score = L1_NORM;
  DBoW3::Vocabulary voc(k, L, weight, score);
  cout << "Creating a small " << k << "^" << L << " vocabulary..." << endl;
  voc.create(features);
  cout << "... done!" << endl;

  cout << "Vocabulary information: " << endl
  << voc << endl << endl;

  cout << "Matching images against themselves (0 low, 1 high): " << endl;
  BowVector v1, v2;
  for (size_t i = 0; i < features.size(); i++)
  {
    voc.transform(features[i], v1);
    for (size_t j = 0; j < features.size(); j++)
    {
      voc.transform(features[j], v2);
      double score = voc.score(v1, v2);
      cout << "Image " << i << " vs Image " << j << ": " << score << endl;
    }
  }
  // save the vocabulary to disk
  cout << endl << "Saving vocabulary..." << endl;
  voc.save("设置保存small_voc.yml.gz的路径");
  cout << "Done" << endl;
}

void testDatabase(const  vector<cv::Mat > &features)
{
  cout << "Creating a small database..." << endl;
  Vocabulary voc("设置加载small_voc.yml.gz的路径");
  Database db(voc, false, 0);
  for (size_t i = 0; i < features.size(); i++)
    db.add(features[i]);
  cout << "... done!" << endl;
  cout << "Database information: " << endl << db << endl;
  cout << "Querying the database: " << endl;
  QueryResults ret;
  for (size_t i = 0; i < features.size(); i++)
  {
    db.query(features[i], ret, 4);
    cout << "Searching for Image " << i << ". " << ret << endl;
  }
  cout << endl;

  cout << "Saving database..." << endl;
  db.save("设置保存small_db.yml.gz的路径");
  cout << "... done!" << endl;

  cout << "Retrieving database once again..." << endl;
  Database db2("C:\\Users\\sggzg\\Desktop\\small_db.yml.gz");
  cout << "... done! This is: " << endl << db2 << endl;
}

int main(int argc, char **argv)
{
  string descriptor = "surf";
  getFiles(path, path_to_images);
  vector<cv::Mat>   features = loadFeatures(path_to_images, descriptor);
  testVocCreation(features);
  testDatabase(features);
  return 0;
}

训练之后可以生成small_voc.yml和small_db.yml两个压缩包