ROS入门：编写类，实现图片ORB特征提取与匹配

目的：

编写相关类，在ros环境下实现图片orb特征提取与匹配

程序编写：

1.创建catkin_ws工作空间与orb_Test功能包
https://blog.csdn.net/qinqinxiansheng/article/details/106768491
2.在catkin_ws/src/orb/include文件夹下编写函数feature_extection.h

#ifndef FEATURE_EXTRACTION_H
#define FEATURE_EXTRACTION_H

#include <iostream>
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/highgui/highgui.hpp>

using namespace std;
using namespace cv;

class Orb_Features
{
public:
   Mat img_1;//原图片
   Mat img_2;
   std::vector<KeyPoint> keypoints_1;//特征点
   std::vector<KeyPoint> keypoints_2;
   Mat descriptors_1;//描述子
   Mat descriptors_2;
   int match_thrd=5;//筛选特征点的阈值，阈值越小，筛选越严重
   vector<DMatch> matches;//匹配结果
   std::vector< DMatch > good_matches;//筛选后的特征点
   
   Mat img_match;//全部匹配结果
   Mat img_goodmatch;//坏的匹配结果

   Orb_Features();
   Orb_Features(Mat img1,Mat img2);
   void setImg(Mat img1,Mat img2);
   void orb_features_matching(); 

};
#endif

3.在catkin_ws/src/orb/src文件夹下编写feature_extraction.cpp

#include "feature_extraction.h"
using namespace std;
using namespace cv;
 Orb_Features::Orb_Features()
 {
 };
 Orb_Features::Orb_Features(Mat img1,Mat img2)
 {
     img_1=img1;
     img_2=img2;
 };
 void Orb_Features::setImg(Mat img1,Mat img2)
 {
     img_1=img1;
     img_2=img2;
 };

void Orb_Features::orb_features_matching()
   {
    Ptr<FeatureDetector> detector = ORB::create();
    Ptr<DescriptorExtractor> descriptor = ORB::create();
    Ptr<DescriptorMatcher> matcher  = DescriptorMatcher::create ( "BruteForce-Hamming" );

    //-- 第一步:检测 Oriented FAST 角点位置
    detector->detect ( img_1,keypoints_1 );
    detector->detect ( img_2,keypoints_2 );
    //-- 第二步:根据角点位置计算 BRIEF 描述子
    descriptor->compute ( img_1, keypoints_1, descriptors_1 );
    descriptor->compute ( img_2, keypoints_2, descriptors_2 );
    //-- 第三步:对两幅图像中的BRIEF描述子进行匹配，使用 Hamming 距离
    //BFMatcher matcher ( NORM_HAMMING );
    matcher->match ( descriptors_1, descriptors_2, matches );

    Mat outimg1;
    drawKeypoints( img_1, keypoints_1, outimg1, Scalar::all(-1), DrawMatchesFlags::DEFAULT );
    imshow("ORB_features",outimg1);

     //-- 第四步:匹配点对筛选
    double min_dist=10000, max_dist=0;
    //找出所有匹配之间的最小距离和最大距离, 即是最相似的和最不相似的两组点之间的距离
    for ( int i = 0; i < descriptors_1.rows; i++ )
    {
        double dist = matches[i].distance;
        if ( dist < min_dist ) min_dist = dist;
        if ( dist > max_dist ) max_dist = dist;
    }
   
    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.

    for ( int i = 0; i < descriptors_1.rows; i++ )
    {
        if ( matches[i].distance <= max ( match_thrd*min_dist, 30.0 ) )
        {
            good_matches.push_back ( matches[i] );
        }
    }
    //-- 第五步:绘制匹配结果
    drawMatches ( img_1, keypoints_1, img_2, keypoints_2, matches, img_match );
    drawMatches ( img_1, keypoints_1, img_2, keypoints_2, good_matches, img_goodmatch );
   }

4.在catkin_ws/src/orb文件夹下编写main.cpp文件

#include "feature_extraction.h"
#include <ros/ros.h>

int main ( int argc, char** argv )
{
	ros::init(argc,argv,"orb_node");
	ros::NodeHandle n;
    Mat img_1 = imread ( "/home/qin/catkin_ws/src/orb_test/1.png", CV_LOAD_IMAGE_COLOR );
    Mat img_2 = imread ( "/home/qin/catkin_ws/src/orb_test/2.png", CV_LOAD_IMAGE_COLOR );

    Orb_Features orb_features(img_1,img_2);
    orb_features.orb_features_matching();
    imshow ( "all features", orb_features.img_match );
    imshow ( "features after optimization", orb_features.img_goodmatch );
    waitKey(50000);
    ros::spin();
    return 0;
}

5.配置CMakelist.txt,在相应位置添加：

find_package( OpenCV 3.1 REQUIRED )

catkin_package(
  INCLUDE_DIRS include
#  LIBRARIES orb_test
  CATKIN_DEPENDS roscpp rospy std_msg
#  DEPENDS system_lib
)

include_directories(
# include
  ${catkin_INCLUDE_DIRS}
   include/orb
)

add_executable( feature_extraction main.cpp src/feature_extraction.cpp   )
target_link_libraries( feature_extraction
			${OpenCV_LIBS}  
			${catkin_LIBRARIES})

程序编译与运行：

打开一个终端，运行

roscore

新打开一个终端，在catkin_ws文件夹下运行：

catkin_make
source devel/setup.bash
rosrun orb_test feature_extraction 

运行结果：
程序链接：
https://download.csdn.net/download/qinqinxiansheng/12554183