slambook2+ch7+orb_cv代码修改

1. 代码部分

• int main ( )
  取消参数传入

• if (argc != 3) {
  cout << “usage: feature_extraction img1 img2” << endl;
  return 1;
  }
  删除此段代码，因为程序不需要从外面传入图片了

• [ Mat img_1 = imread("/home/slambook2/ch7/1.png", CV_LOAD_IMAGE_COLOR);
  直接将图片地址写入，将图片变换为图像矩阵。CV_LOAD_IMAGE_COLOR保留图片的彩色信息

• 完整代码

#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 (  )
{
   


    //-- 读取图像,assert检查图像是否为空，assert表达式为0时报错
    Mat img_1 = imread("/home/automobile/wcm/slambook2/ch7/1.png", CV_LOAD_IMAGE_COLOR);
    Mat img_2 = imread("/home/automobile/wcm/slambook2/ch7/2.png", CV_LOAD_IMAGE_COLOR);
    assert(img_1.data != nullptr && img_2.data != nullptr);

    //-- 初始化
    std::vector<KeyPoint> keypoints_1, keypoints_2;
    Mat descriptors_1, descriptors_2;
    Ptr<FeatureDetector> detector = ORB::create();
    Ptr<DescriptorExtractor> descriptor = ORB::create();
    Ptr&l