图片特征匹配仿射变换

                         图片特征匹配仿射变换

class ImageFeature {
public:
    void BFMatch_demo(Mat& image, Mat& image2);

};

//  ImageFeature   ScanToPointCloud2Converter
//todo 图片匹配
void ScanToPointCloud2Converter::BFMatch_demo(Mat& image1, Mat& image2) {



    // 1 初始化特征点和描述子,ORB
    std::vector<KeyPoint> keypoints1, keypoints2;
    Mat descriptors1, descriptors2;
    Ptr<ORB> orb = ORB::create();

    // 2 提取 Oriented FAST 特征点
    orb->detect(image1, keypoints1);
    orb->detect(image2, keypoints2);

    // 3 根据角点位置计算 BRIEF 描述子
    orb->compute(image1, keypoints1, descriptors1);
    orb->compute(image2, keypoints2, descriptors2);

    // 4 对两幅图像中的BRIEF描述子进行匹配，使用 Hamming 距离
    vector<DMatch> matches;
    BFMatcher bfmatcher(NORM_HAMMING);
    bfmatcher.match(descriptors1, descriptors2, matches);

    // 5 匹配对筛选
    double min_dist = 1000, max_dist = 0;
    // 找出所有匹配之间的最大值和最小值
    for (int i =