SLAM十四讲-ch7(1)-特征点匹配(包含手写ORB和直接调用cv库函数的代码注释)

一、利用cv库函数进行特征点的匹配

源码如下：

//
// Created by wenbo on 2020/11/1.
//
#include<iostream>
#include<opencv2/core/core.hpp>
#include<opencv2/features2d/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <chrono>
using namespace std;
using namespace cv;
int main(int argc,char** argv)
{
    //argv 有三个，一个是可执行文件，还有两个是图片路径
    if(argc!=3)
    {
        cout<<"usage: ./ORB_by_CV img1 img2"<<endl;
        return 1;
    }
    //读取两张图片
    argv[1]="/home/nnz/data/slam_pratice/pratice_feature_match/1.png";
    argv[2]="/home/nnz/data/slam_pratice/pratice_feature_match/2.png";
    Mat img1=imread(argv[1],CV_LOAD_IMAGE_COLOR);//彩色图
    Mat img2=imread(argv[2],CV_LOAD_IMAGE_COLOR);
    assert(img1.data!= nullptr && img2.data!= nullptr);//如果两张图片里面没有内容，则终止程序
    //初始化，创建 ORB检测器，描述子检测器，以及匹配器
    std::vector<KeyPoint> keypoints_1,keypoints_2;//利用容器keypoints1,keypoints2存放两张图片的特征点
    Mat descriptors_1, descriptors_2;//利用Mta类型的descriptors_1, descriptors_2存放描述子
    Ptr<FeatureDetector> dector=ORB::create();//创建ORB特征点检测器
    //创建描述子（特征点）匹配器,采用的匹配方式是暴力匹配，对应书上的汉明距离Hamming
    Ptr<DescriptorExtractor> descriptor=ORB::create();//创建描述子提取器
    Ptr<DescriptorMatcher> matcher=DescriptorMatcher::create("BruteForce-Hamming");
    //step1:检测出 Oriented Fsat (带旋转的Fast角点)
    chrono::steady_clock::time_point t1=chrono::steady_clock::now();
    dector->detect(img1,keypoints_1);//找到图1中的角点（特征点）
    dector->detect(img2,keypoints_2);//找到图2中的角点（特征点）

    //step2:通过第一步至中得到的角点计算描述子
    descriptor->compute(img1,keypoints_1,descriptors_1);//得到图1中角点所对应的描述子
    descriptor->compute(img2,keypoints_2,descriptors_2);//得到图2中角点所对应的描述子
    chrono::steady_clock::time_point t2 = chrono::steady_clock::now();
    chrono::duration<double> time_used = chrono::duration_cast<chrono::duration<double>>(t2 - t1);
    cout << "extract ORB cost = " << time_used.count() << " seconds. " << endl; //得到完整特征点（角点+描述子）花费的时间

    //step3:对两个图像中的描述子进行匹配,使用Hamming距离
    //这里用的是暴力匹配，就是让图一的每一个特征点的描述子的距离和图二所有的特征点的描述子的距离进行比较，距离最小的就可以匹配
    vector<DMatch> matches;//利用matches 存放匹配向量
    t1 = chrono::steady_clock::now();
    matcher->match(descriptors_1, descriptors_2, matches);
    t2 = chrono::steady_clock::now();
    time_used = chrono::duration_cast<chrono::duration<double>>(t2 - t1);
    cout << "match ORB cost = " << time_used.count() << " seconds. " << endl;//特征点匹配花费的时间

    //step4:对匹配的的点进行筛选，因为这里面肯定有大量的误匹配
    //在早期C/C++中auto的含义是：使用auto修饰的变量，是具有自动存储器的局部变量
    //C++11中，标准委员会赋予了auto全新的含义即：auto不再是一个存储类型指示符，而是作为一个新的类型指示符来指示编译器，auto声明的变量必须由编译器在编译时期推导而得。
    //min_max 这是个pair min_max.first存着最小的距离， min_max.first存着最大的距离，距离指的是描述子的距离
    //minmax_element()实际上是进行了一个排序
    auto  min_max=minmax_element(matches.begin(),matches.end(),
                                 [](const DMatch &m1,const DMatch &m2){ return m1.distance<m2.distance; });
    double min_dist = min_max.first->distance;//
    double max_dist = min_max.second->distance;//
    printf("-- Max dist : %f \n", max_dist);
    printf("-- Min dist : %f \n", min_dist);
    //当描述子之间的距离大于两倍的最小距离时,即认为匹配有误.但有时候最小距离会非常小,设置一个经验值30作为下限.
    std::vector<DMatch> good_matches;//利用good_matches存放好的匹配点
    for(int i=0;i<descriptors_1.rows;i++)//匹配到的点的数量=描述子的个数
    {
        if(matches[i].distance<=max(2*min_dist,30.0))
        {
            good_matches.push_back((matches[i]));
        }
    }
    //-- 第五步:绘制匹配结果
    Mat img_match;
    Mat img_goodmatch;
    drawMatches(img1, keypoints_1, img2, keypoints_2, matches, img_match);
    drawMatches(img1, keypoints_1, img2, keypoints_2, good_matches, img_goodmatch);
    imshow("all matches", img_match);
    imshow("good matches", img_goodmatch);
    waitKey(0);

    return 0;

}

运行结果如下：

二、手写ORB匹配

源码如下：

//
//
#include <iostream>
#include <opencv2/opencv.hpp>
#include <string>
#include <nmmintrin.h>
#include <chrono>
using namespace std;
//读取的图片路径
string im1_file="/home/nnz/data/slam_pratice/pratice_feature_match/1.png";
string im2_file="/home/nnz/data/slam_pratice/pratice_feature_match/2.png";
// 32 bit unsigned int, will have 8, 8x32=256
typedef vector<uint32_t> DescType;//Descriptor type  32 bit
//计算描述子
void ComputeORB(const cv::Mat &img,vector<cv::KeyPoint> &keypoints ,vector<DescType> &descriptors);
//将两组描述子进行暴力匹配
//参数:desc1为图1的描述子 、desc2为图2的描述子、matches为匹配好的匹配点
void BfMatch(const vector<DescType> &desc1, const vector<DescType> &desc2, vector<cv::DMatch> &matches);
int main()
{
    //读取图片
    cv::Mat img1=cv::imread(im1_file,0);//0表示读入灰度图
    cv::Mat img2 = cv::imread(im2_file, 0);
    assert(img.data != nullptr && img2.data != nullptr);
    //检测角点  阈值设定为40
    chrono::steady_clock::time_point t1 = chrono::steady_clock::now();
    vector<cv::KeyPoint> keypoints1,keypoints2;
    cv::FAST(img1,keypoints1,40);
    cv::FAST(img2,keypoints2,40);
    vector<DescType> descriptors1,descriptors2;
    ComputeORB(img1,keypoints1,descriptors1);
    ComputeORB(img2,keypoints2,descriptors2);
    chrono::steady_clock::time_point t2 = chrono::steady_clock::now();
    chrono::duration<double> time_used = chrono::duration_cast<chrono::duration<double>>(t2 - t1);
    cout << "extract ORB cost = " << time_used.count() << " seconds. " << endl;

    //进行匹配
    vector<cv::DMatch> matches;
    t1 = chrono::steady_clock::now();
    BfMatch(descriptors1,descriptors2,matches);
    t2 = chrono::steady_clock::now();
    time_used = chrono::duration_cast<chrono::duration<double>>(t2 - t1);
    cout << "match ORB cost = " << time_used.count() << " seconds. " << endl;
    cout << "matches: " << matches.size() << endl;
    //画图
    cv::Mat image_show;
    cv::drawMatches(img1, keypoints1, img2, keypoints2, matches, image_show);
    cv::imshow("matches", image_show);
    cv::imwrite("matches.png", image_show);
    cv::waitKey(0);

    cout << "done." << endl;

    return 0;
}
int ORB_pattern[256 * 4] = {
        8, -3, 9, 5/*mean (0), correlation (0)*/,
        4, 2, 7, -12/*mean (1.12461e-05), correlation (0.0437584)*/,
        -11, 9, -8, 2/*mean (3.37382e-05), correlation (0.0617409)*/,
        7, -12, 12, -13/*mean (5.62303e-05), correlation (0.0636977)*/,
        2, -13, 2, 12/*mean (0.000134953), correlation (0.085099)*/,
        1, -7, 1, 6/*mean (0.000528565), correlation (0.0857175)*/,
        -2, -10, -2, -4/*mean (0.0188821), correlation (0.0985774)*/,
        -13, -13, -11, -8/*mean (0.0363135), correlation (0.0899616)*/,
        -13, -3, -12, -9/*mean (0.121806), correlation (0.099849)*/,
        10, 4, 11, 9/*mean (0.122065), correlation (0.093285)*/,
        -13, -8, -8, -9/*mean (0.162787), correlation (0.0942748)*/,
        -11, 7, -9, 12/*mean (0.21561), correlation (0.0974438)*/,
        7, 7, 12, 6/*mean (0.160583), correlation (0.130064)*/,
        -4, -5, -3, 0/*mean (0.228171), correlation (0.132998)*/,
        -13, 2, -12, -3/*mean (0.00997526), correlation (0.145926)*/,
        -9, 0, -7, 5/*mean (0.198234), correlation (0.143636)*/,
        12, -6, 12, -1/*mean (0.0676226), correlation (0.16689)*/,
        -3, 6, -2, 12/*mean (0.166847), correlation (0.171682)*/,
        -6, -13, -4, -8/*mean (0.101215), correlation (0.179716)*/,
        11, -13, 12, -8/*mean (0.200641), correlation (0.192279)*/,
        4, 7, 5, 1/*mean (0.205106), correlation (0.186848)*/,
        5, -3, 10, -3/*mean (0.234908), correlation (0.192319)*/,
        3, -7, 6, 12/*mean (0.0709964), correlation (0.210872)*/,
        -8, -7, -6, -2/*mean (0.0939834), correlation (0.212589)*/,
        -2, 11, -1, -10/*mean (0.127778), correlation (0.20866)*/,
        -13, 12, -8, 10/*mean (0.14783), correlation (0.206356)*/,
        -7, 3, -5, -3/*mean (0.182141), correlation (0.198942)*/,
        -4, 2, -3, 7/*mean (0.188237), correlation (0.21384)*/,
        -10, -12, -6, 11/*mean (0.14865), correlation (0.23571)*/,
        5, -12, 6, -7/*mean (0.222312), correlation (0.23324)*/,
        5, -6, 7, -1/*mean (0.229082), correlation (0.23389)*/,
        1, 0, 4, -5/*mean (0.241577), correlation (0.215286)*/,
        9, 11, 11, -13/*mean (0.00338507), correlation (0.251373)*/,
        4, 7, 4, 12/*mean (0.131005), correlation (0.257622)*/,
        2, -1, 4, 4/*mean (0.152755), correlation (0.255205)*/,
        -4, -12, -2, 7/*mean (0.182771), correlation (0.244867)*/,
        -8, -5, -7, -10/*mean (0.186898), correlation (0.23901)*/,
        4, 11, 9, 12/*mean (0.226226), correlation (0.258255)*/,
        0, -8, 1, -13/*mean (0.0897886), correlation (0.274827)*/,
        -13, -2, -8, 2/*mean (0.148774), correlation (0.28065)*/,
        -3, -2, -2, 3/*mean (0.153048), correlation (0.283063)*/,
        -6, 9, -4, -9/*mean (0.169523), correlation (0.278248)*/,
        8, 12, 10, 7/*mean (0.225337), correlation (0.282851)*/,
        0, 9, 1, 3/*mean (0.226687), correlation (0.278734)*/,
        7, -5, 11, -10/*mean (0.00693882), correlation (0.305161)*/,
        -13, -6, -11, 0/*mean (0.0227283), correlation (0.300181)*/,
        10, 7, 12, 1/*mean (0.125517), correlation (0.31089)*/,
        -6, -3, -6, 12/*mean (0.131748), correlation (0.312779)*/,
        10, -9, 12, -4/*mean (0.144827), correlation (0.292797)*/,
        -13, 8, -8, -12/*mean (0.149202), correlation (0.308918)*/,
        -13, 0, -8, -4/*mean (0.160909), correlation (0.310013)*/,
        3, 3, 7, 8/*mean (0.177755), correlation (0.309394)*/,
        5, 7, 10, -7/*mean (0.212337), correlation (0.310315)*/,
        -1, 7, 1, -12/*mean (0.214429), correlation (0.311933)*/,
        3, -10, 5, 6/*mean (0.235807), correlation (0.313104)*/,
        2, -4, 3, -10/*mean (0.00494827), correlation (0.344948)*/,
        -13, 0, -13, 5/*mean (0.0549145), correlation (0.344675)*/,
        -13, -7, -12, 12/*mean (0.103385), correlation (0.342715)*/,
        -13, 3, -11, 8/*mean (0.134222), correlation (0.322922)*/,
        -7, 12, -4, 7/*mean (0.153284), correlation (0.337061)*/,
        6, -10, 12, 8/*mean (0.154881), correlation (0.329257)*/,
        -9, -1, -7, -6/*mean (0.200967), correlation (0.33312)*/,
        -2, -5, 0, 12/*mean (0.201518), correlation (0.340635)*/,
        -12, 5, -7, 5/*mean (0.207805), correlation (0.335631)*/,
        3, -10, 8, -13/*mean (0.224438), correlation (0.34504)*/,
        -7, -7, -4, 5/*mean (0.239361), correlation (0.338053)*/,
        -3, -2, -1, -7/*mean (0.240744), correlation (0.344322)*/,
        2, 9, 5, -11/*mean (0.242949), correlation (0.34145)*/,
        -11, -13, -5, -13/*mean (0.244028), correlation (0.336861)*/,
        -1, 6, 0, -1/*mean (0.247571), correlation (0.343684)*/,
        5, -3, 5, 2/*mean (0.000697256), correlation (0.357265)*/,
        -4, -13, -4, 12/*mean (0.00213675), correlation (0.373827)*/,
        -9, -6, -9, 6/*mean (0.0126856), correlation (0.373938)*/,
        -12, -10, -8, -4/*mean (0.0152497), correlation (0.364237)*/,
        10, 2, 12, -3/*mean (0.0299933), correlation (0.345292)*/,
        7, 12, 12, 12/*mean (0.0307242), correlation (0.366299)*/,
        -7, -13, -6, 5/*mean (0.0534975), correlation (0.368357)*/,
        -4, 9, -3, 4/*mean (0.099865), correlation (0.372276)*/,
        7, -1, 12, 2/*mean (0.117083), correlation (0.364529)*/,
        -7, 6, -5, 1/*mean (0.126125), correlation (0.369606)*/,
        -13, 11, -12, 5/*mean (0.130364), correlation (0.358502)*/,
        -3, 7, -2, -6/*mean (0.131691), correlation (0.375531)*/,
        7, -8, 12, -7/*mean (0.160166), correlation (0.379508)*/,
        -13, -7, -11, -12/*mean (0.167848), correlation (0.353343)*/,
        1, -3, 12, 12/*mean (0.183378), correlation (0.371916)*/,
        2, -6, 3, 0/*mean (0.228711), correlation (0.371761)*/,
        -4, 3, -2, -13/*mean (0.247211), correlation (0.364063)*/,
        -1, -13, 1, 9/*mean (0.249325), correlation (0.378139)*/,
        7, 1, 8, -6/*mean (0.000652272), correlation (0.411682)*/,
        1, -1, 3, 12/*mean (0.00248538), correlation (0.392988)*/,
        9, 1, 12, 6/*mean (0.0206815), correlation (0.386106)*/,
        -1, -9, -1, 3/*mean (0.0364485), correlation (0.410752)*/,
        -13, -13, -10, 5/*mean (0.0376068), correlation (0.398374)*/,
        7, 7, 10, 12/*mean (0.0424202), correlation (0.405663)*/,
        12, -5, 12, 9/*mean (0.0942645), correlation (0.410422)*/,
        6, 3, 7, 11/*mean (0.1074), correlation (0.413224)*/,
        5, -13, 6, 10/*mean (0.109256), correlation (0.408646)*/,
        2, -12, 2, 3/*mean (0.131691), correlation (0.416076)*/,
        3, 8, 4, -6/*mean (0.165081), correlation (0.417569)*/,
        2, 6, 12, -13/*mean (0.171874), correlation (0.408471)*/,
        9, -12, 10, 3/*mean (0.175146), correlation (0.41296)*/,
        -8, 4, -7, 9/*mean (0.183682), correlation (0.402956)*/,
        -11, 12, -4, -6/*mean (0.184672), correlation (0.416125)*/,
        1, 12, 2, -8/*mean (0.191487), correlation (0.386696)*/,
        6, -9, 7, -4/*mean (0.192668), correlation (0.394771)*/,
        2, 3, 3, -2/*mean (0.200157), correlation (0.408303)*/,
        6, 3, 11, 0/*mean (0.204588), correlation (0.411762)*/,
        3, -3, 8, -8/*mean (0.205904), correlation (0.416294)*/,
        7, 8, 9, 3/*mean (0.213237), correlation (0.409306)*/,
        -11, -5, -6, -4/*mean (0.243444), correlation (0.395069)*/,
        -10, 11, -5, 10/*mean (0.247672), correlation (0.413392)*/,
        -5, -8, -3, 12/*mean (0.24774), correlation (0.411416)*/,
        -10, 5, -9, 0/*mean (0.00213675), correlation (0.454003)*/,
        8, -1, 12, -6/*mean (0.0293635), correlation (0.455368)*/,
        4, -6, 6, -11/*mean (0.0404971), correlation (0.457393)*/,
        -10, 12, -8, 7/*mean (0.0481107), correlation (0.448364)*/,
        4, -2, 6, 7/*mean (0.050641), correlation (0.455019)*/,
        -2, 0, -2, 12/*mean (0.0525978), correlation (0.44338)*/,
        -5, -8, -5, 2/*mean (0.0629667), correlation (0.457096)*/,
        7, -6, 10, 12/*mean (0.0653846), correlation (0.445623)*/,
        -9, -13, -8, -8/*mean (0.0858749), correlation (0.449789)*/,
        -5, -13, -5, -2/*mean (0.122402), correlation (0.450201)*/,
        8, -8, 9, -13/*mean (0.125416), correlation (0.453224)*/,
        -9, -11, -9, 0/*mean (0.130128), correlation (0.458724)*/,
        1, -8, 1, -2/*mean (0.132467), correlation (0.440133)*/,
        7, -4, 9, 1/*mean (0.132692), correlation (0.454)*/,
        -2, 1, -1, -4/*mean (0.135695), correlation (0.455739)*/,
        11, -6, 12, -11/*mean (0.142904), correlation (0.446114)*/,
        -12, -9, -6, 4/*mean (0.146165), correlation (0.451473)*/,
        3, 7, 7, 12/*mean (0.147627), correlation (0.456643)*/,
        5, 5, 10, 8/*mean (0.152901), correlation (0.455036)*/,
        0, -4, 2, 8/*mean (0.167083), correlation (0.459315)*/,
        -9, 12, -5, -13/*mean (0.173234), correlation (0.454706)*/,
        0, 7, 2, 12/*mean (0.18312), correlation (0.433855)*/,
        -1, 2, 1, 7/*mean (0.185504), correlation (0.443838)*/,
        5, 11, 7, -9/*mean (0.185706), correlation (0.451123)*/,
        3, 5, 6, -8/*mean (0.188968), correlation (0.455808)*/,
        -13, -4, -8, 9/*mean (0.191667), correlation (0.459128)*/,
        -5, 9, -3, -3/*mean (0.193196), correlation (0.458364)*/,
        -4, -7, -3, -12/*mean (0.196536), correlation (0.455782)*/,
        6, 5, 8, 0/*mean (0.1972), correlation (0.450481)*/,
        -7, 6, -6, 12/*mean (0.199438), correlation (0.458156)*/,
        -13, 6, -5, -2/*mean (0.211224), correlation (0.449548)*/,
        1, -10, 3, 10/*mean (0.211718), correlation (0.440606)*/,
        4, 1, 8, -4/*mean (0.213034), correlation (0.443177)*/,
        -2, -2, 2, -13/*mean (0.234334), correlation (0.455304)*/,
        2, -12, 12, 12/*mean (0.235684), correlation (0.443436)*/,
        -2, -13, 0, -6/*mean (0.237674), correlation (0.452525)*/,
        4, 1, 9, 3/*mean (0.23962), correlation (0.444824)*/,
        -6, -10, -3, -5/*mean (0.248459), correlation (0.439621)*/,
        -3, -13, -1, 1/*mean (0.249505), correlation (0.456666)*/,
        7, 5, 12, -11/*mean (0.00119208), correlation (0.495466)*/,
        4, -2, 5, -7/*mean (0.00372245), correlation (0.484214)*/,
        -13, 9, -9, -5/*mean (0.00741116), correlation (0.499854)*/,
        7, 1, 8, 6/*mean (0.0208952), correlation (0.499773)*/,
        7, -8, 7, 6/*mean (0.0220085), correlation (0.501609)*/,
        -7, -4, -7, 1/*mean (0.0233806), correlation (0.496568)*/,
        -8, 11, -7, -8/*mean (0.0236505), correlation (0.489719)*/,
        -13, 6, -12, -8/*mean (0.0268781), correlation (0.503487)*/,
        2, 4, 3, 9/*mean (0.0323324), correlation (0.501938)*/,
        10, -5, 12, 3/*mean (0.0399235), correlation (0.494029)*/,
        -6, -5, -6, 7/*mean (0.0420153), correlation (0.486579)*/,
        8, -3, 9, -8/*mean (0.0548021), correlation (0.484237)*/,
        2, -12, 2, 8/*mean (0.0616622), correlation (0.496642)*/,
        -11, -2, -10, 3/*mean (0.0627755), correlation (0.498563)*/,
        -12, -13, -7, -9/*mean (0.0829622), correlation (0.495491)*/,
        -11, 0, -10, -5/*mean (0.0843342), correlation (0.487146)*/,
        5, -3, 11, 8/*mean (0.0929937), correlation (0.502315)*/,
        -2, -13, -1, 12/*mean (0.113327), correlation (0.48941)*/,
        -1, -8, 0, 9/*mean (0.132119), correlation (0.467268)*/,
        -13, -11, -12, -5/*mean (0.136269), correlation (0.498771)*/,
        -10, -2, -10, 11/*mean (0.142173), correlation (0.498714)*/,
        -3, 9, -2, -13/*mean (0.144141), correlation (0.491973)*/,
        2, -3, 3, 2/*mean (0.14892), correlation (0.500782)*/,
        -9, -13, -4, 0/*mean (0.150371), correlation (0.498211)*/,
        -4, 6, -3, -10/*mean (0.152159), correlation (0.495547)*/,
        -4, 12, -2, -7/*mean (0.156152), correlation (0.496925)*/,
        -6, -11, -4, 9/*mean (0.15749), correlation (0.499222)*/,
        6, -3, 6, 11/*mean (0.159211), correlation (0.503821)*/,
        -13, 11, -5, 5/*mean (0.162427), correlation (0.501907)*/,
        11, 11, 12, 6/*mean (0.16652), correlation (0.497632)*/,
        7, -5, 12, -2/*mean (0.169141), correlation (0.484474)*/,
        -1, 12, 0, 7/*mean (0.169456), correlation (0.495339)*/,
        -4, -8, -3, -2/*mean (0.171457), correlation (0.487251)*/,
        -7, 1, -6, 7/*mean (0.175), correlation (0.500024)*/,
        -13, -12, -8, -13/*mean (0.175866), correlation (0.497523)*/,
        -7, -2, -6, -8/*mean (0.178273), correlation (0.501854)*/,
        -8, 5, -6, -9/*mean (0.181107), correlation (0.494888)*/,
        -5, -1, -4, 5/*mean (0.190227), correlation (0.482557)*/,
        -13, 7, -8, 10/*mean (0.196739), correlation (0.496503)*/,
        1, 5, 5, -13/*mean (0.19973), correlation (0.499759)*/,
        1, 0, 10, -13/*mean (0.204465), correlation (0.49873)*/,
        9, 12, 10, -1/*mean (0.209334), correlation (0.49063)*/,
        5, -8, 10, -9/*mean (0.211134), correlation (0.503011)*/,
        -1, 11, 1, -13/*mean (0.212), correlation (0.499414)*/,
        -9, -3, -6, 2/*mean (0.212168), correlation (0.480739)*/,
        -1, -10, 1, 12/*mean (0.212731), correlation (0.502523)*/,
        -13, 1, -8, -10/*mean (0.21327), correlation (0.489786)*/,
        8, -11, 10, -6/*mean (0.214159), correlation (0.488246)*/,
        2, -13, 3, -6/*mean (0.216993), correlation (0.50287)*/,
        7, -13, 12, -9/*mean (0.223639), correlation (0.470502)*/,
        -10, -10, -5, -7/*mean (0.224089), correlation (0.500852)*/,
        -10, -8, -8, -13/*mean (0.228666), correlation (0.502629)*/,
        4, -6, 8, 5/*mean (0.22906), correlation (0.498305)*/,
        3, 12, 8, -13/*mean (0.233378), correlation (0.503825)*/,
        -4, 2, -3, -3/*mean (0.234323), correlation (0.476692)*/,
        5, -13, 10, -12/*mean (0.236392), correlation (0.475462)*/,
        4, -13, 5, -1/*mean (0.236842), correlation (0.504132)*/,
        -9, 9, -4, 3/*mean (0.236977), correlation (0.497739)*/,
        0, 3, 3, -9/*mean (0.24314), correlation (0.499398)*/,
        -12, 1, -6, 1/*mean (0.243297), correlation (0.489447)*/,
        3, 2, 4, -8/*mean (0.00155196), correlation (0.553496)*/,
        -10, -10, -10, 9/*mean (0.00239541), correlation (0.54297)*/,
        8, -13, 12, 12/*mean (0.0034413), correlation (0.544361)*/,
        -8, -12, -6, -5/*mean (0.003565), correlation (0.551225)*/,
        2, 2, 3, 7/*mean (0.00835583), correlation (0.55285)*/,
        10, 6, 11, -8/*mean (0.00885065), correlation (0.540913)*/,
        6, 8, 8, -12/*mean (0.0101552), correlation (0.551085)*/,
        -7, 10, -6, 5/*mean (0.0102227), correlation (0.533635)*/,
        -3, -9, -3, 9/*mean (0.0110211), correlation (0.543121)*/,
        -1, -13, -1, 5/*mean (0.0113473), correlation (0.550173)*/,
        -3, -7, -3, 4/*mean (0.0140913), correlation (0.554774)*/,
        -8, -2, -8, 3/*mean (0.017049), correlation (0.55461)*/,
        4, 2, 12, 12/*mean (0.01778), correlation (0.546921)*/,
        2, -5, 3, 11/*mean (0.0224022), correlation (0.549667)*/,
        6, -9, 11, -13/*mean (0.029161), correlation (0.546295)*/,
        3, -1, 7, 12/*mean (0.0303081), correlation (0.548599)*/,
        11, -1, 12, 4/*mean (0.0355151), correlation (0.523943)*/,
        -3, 0, -3, 6/*mean (0.0417904), correlation (0.543395)*/,
        4, -11, 4, 12/*mean (0.0487292), correlation (0.542818)*/,
        2, -4, 2, 1/*mean (0.0575124), correlation (0.554888)*/,
        -10, -6, -8, 1/*mean (0.0594242), correlation (0.544026)*/,
        -13, 7, -11, 1/*mean (0.0597391), correlation (0.550524)*/,
        -13, 12, -11, -13/*mean (0.0608974), correlation (0.55383)*/,
        6, 0, 11, -13/*mean (0.065126), correlation (0.552006)*/,
        0, -1, 1, 4/*mean (0.074224), correlation (0.546372)*/,
        -13, 3, -9, -2/*mean (0.0808592), correlation (0.554875)*/,
        -9, 8, -6, -3/*mean (0.0883378), correlation (0.551178)*/,
        -13, -6, -8, -2/*mean (0.0901035), correlation (0.548446)*/,
        5, -9, 8, 10/*mean (0.0949843), correlation (0.554694)*/,
        2, 7, 3, -9/*mean (0.0994152), correlation (0.550979)*/,
        -1, -6, -1, -1/*mean (0.10045), correlation (0.552714)*/,
        9, 5, 11, -2/*mean (0.100686), correlation (0.552594)*/,
        11, -3, 12, -8/*mean (0.101091), correlation (0.532394)*/,
        3, 0, 3, 5/*mean (0.101147), correlation (0.525576)*/,
        -1, 4, 0, 10/*mean (0.105263), correlation (0.531498)*/,
        3, -6, 4, 5/*mean (0.110785), correlation (0.540491)*/,
        -13, 0, -10, 5/*mean (0.112798), correlation (0.536582)*/,
        5, 8, 12, 11/*mean (0.114181), correlation (0.555793)*/,
        8, 9, 9, -6/*mean (0.117431), correlation (0.553763)*/,
        7, -4, 8, -12/*mean (0.118522), correlation (0.553452)*/,
        -10, 4, -10, 9/*mean (0.12094), correlation (0.554785)*/,
        7, 3, 12, 4/*mean (0.122582), correlation (0.555825)*/,
        9, -7, 10, -2/*mean (0.124978), correlation (0.549846)*/,
        7, 0, 12, -2/*mean (0.127002), correlation (0.537452)*/,
        -1, -6, 0, -11/*mean (0.127148), correlation (0.547401)*/
};


//函数实现部分
void ComputeORB(const cv::Mat &img,vector<cv::KeyPoint> &keypoints ,vector<DescType> &descriptors) {
    const int half_patch_size = 8;//这个是计算质心的小块
    const int half_boundary = 16;//这个是边界的限定，用来限定keypoints的范围
    // （其实就是把图片框了起来，特征点要在【宽-32，高-32】的范围里）
    int bad_points = 0;//用来记录不好的keypoints的个数
    for (auto &kp:keypoints)
    {
        //判断keypoints是否在框的外面
        if (kp.pt.x < half_boundary || kp.pt.y < half_boundary || kp.pt.x >=
                    img.cols - half_boundary || kp.pt.y >= img.rows - half_boundary) {
            bad_points++;
            descriptors.push_back({});
            continue;
        }
        float m01 = 0, m10 = 0;//对应书上的公式 p157
        for (int dx = -half_patch_size; dx < half_patch_size; ++dx)
        {
            for (int dy = -half_patch_size; dy < half_patch_size; ++dy)
            {
                // 在使用image.at<TP>(x1, x2)来访问图像中点的值的时候，x1并不是图片中对应点的x轴坐标，而是图片中对应点的y坐标。
                // 因此其访问的结果其实是访问image图像中的Point(x2, x1)点，即与image.at<TP>(Point(x2, x1))效果相同。
                uchar pixel = img.at<uchar>(kp.pt.y + dy, kp.pt.x + dx);
                m01 += dx * pixel;//得到x方向的形心
                m10 += dy * pixel;//得到y方向的形心
            }
        }
        //算角度 arc tan(m01/m10)
        float m_sqrt = sqrt(m01 * m01 + m10 * m10);
        float sin_theta = m01 / m_sqrt;
        float cos_theta = m10 / m_sqrt;
        DescType desc(8, 0);//32*8=256
        uint32_t d = 0;
        for (int i = 0; i < 8; i++)
        {
            uint32_t d = 0;
            for (int k = 0; k < 32; k++)
            {
                int idx_pq = i * 8 + k;
                //得到描述子附近的两组点 p 和  q
                //里面的4就是把每一行的4个数依次赋值给 p q
                cv::Point2f p(ORB_pattern[idx_pq * 4], ORB_pattern[idx_pq * 4 + 1]);
                cv::Point2f q(ORB_pattern[idx_pq * 4 + 2], ORB_pattern[idx_pq * 4 + 3]);
                //带上旋转  有点像是欧拉公式，不太确定
                cv::Point2f pp(cos_theta * p.x - sin_theta * p.y, sin_theta * p.x + cos_theta * p.y);
                cv::Point2f qq(cos_theta * q.x - sin_theta * q.y, sin_theta * q.x + cos_theta * q.y);
                //判断pp qq的大小 书上说的是，如果 p>q 取1 ，反正取0下面的判断好像是反的
                if (img.at<uchar>(pp.y, pp.x) < img.at<uchar>(qq.y, qq.x))
                {
                    d |= 1 << k;//简单的位运算
                }
            }
            desc[i]=d;
        }
        descriptors.push_back(desc);
    }
    cout << "bad/total: " << bad_points << "/" << keypoints.size() << endl;
}
//暴力匹配
void BfMatch(const vector<DescType> &desc1, const vector<DescType> &desc2, vector<cv::DMatch> &matches)
{
    const int d_max=40;//下限
    for(size_t i=0;i<desc1.size();++i) {
        if (desc1[i].empty()) continue;//判断描述子是否为空
        cv::DMatch m{i, 0, 256};
        for (size_t j = 0; j < desc2.size(); ++j) {
            if (desc2[j].empty()) continue;
            int distance = 0;
            for (int k = 0; k < 8; k++) {
                //利用异或 求距离？
                distance += _mm_popcnt_u32(desc1[i][k] ^ desc2[j][k]);
            }
            //经过8次循环把一个描述子距离求得
            //下面就是要暴力匹配，比较大小了
            if (distance < d_max && distance < m.distance)//这里的m.distance是desc2的描述子
            {
                m.distance = distance;//把小的距离赋给m.distance
                m.trainIdx = j;//让m指向desc的下一个描述子
            }
        }
        if (m.distance < d_max) //判断下限
        {
            matches.push_back(m);
        }
    }
}

// ORB pattern
//这下面的每一行其实代表两个点
//要知道描述子就是通过两组点比较大小得来的

运行结果如下：