ubuntu下自定义类，实现图像orb特征匹配

目标

在ubuntu下编写类，实现图像orb特征提取与描述，目的是学习cmake的文件组织方式

思路：

1. 编写.cpp文件与h文件，实现feature_extection类，类中需要实现图片输入，orb特征提取与匹配，匹配阈值设定的功能
2. 然后在main函数中调用该类

程序实现

1. 首先建立orb_Test文件夹，下面建立include文件夹和src文件，分别用于存储头文件与cpp文件
2. 在include文件中编写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src文件中编写feature_extection.cpp文件

#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;
    }
    
    // 仅供娱乐的写法
    //min_dist = min_element( matches.begin(), matches.end(), [](const DMatch& m1, const DMatch& m2) {return m1.distance<m2.distance;} )->distance;
    //max_dist = max_element( matches.begin(), matches.end(), [](const DMatch& m1, const DMatch& m2) {return m1.distance<m2.distance;} )->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.

    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orb_Test文件夹下编写main函数，其中程序所需的图片需要根据路径与名称自己设置，默认路径为include文件夹子

#include "feature_extraction.h"

int main ( int argc, char** argv )
{
    Mat img_1 = imread ( "1.png", CV_LOAD_IMAGE_COLOR );
    Mat img_2 = imread ( "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);
    return 0;
}

5. CMakelist.txt配置：

cmake_minimum_required( VERSION 2.8 )
project( vo1 )

set( CMAKE_BUILD_TYPE "Release" )
set( CMAKE_CXX_FLAGS "-std=c++11 -O3" )

//查找opencv库
find_package( OpenCV 3.1 REQUIRED )

//包含头文件，这里需要添加include文件夹
include_directories( 
    ${OpenCV_INCLUDE_DIRS} 
    include
)
//可执行文件名称与所依赖的cpp文件，需要注意路径
add_executable( feature_extraction  main.cpp src/feature_extraction.cpp  )
target_link_libraries( feature_extraction ${OpenCV_LIBS} )

运行结果：

程序下载链接：
https://download.csdn.net/download/qinqinxiansheng/12554194