opencv3中ORB算法描述与匹配

#include<opencv2/opencv.hpp>
#include<iostream>
#include<vector>

using namespace cv;
using namespace std;

int main()
{
	Mat srcImage = imread("NIBook.jpg");
	imshow("【原图】", srcImage);

	//对BGR空间的图像直接进行计算很费时间，所以，需要转换为灰度图
	Mat srcGrayImage;
	cvtColor(srcImage, srcGrayImage, CV_BGR2GRAY);

	//首先对两幅图像进行特征点的检测和描述子的计算
	vector<KeyPoint> keyPoint1;
	ORB orb(400);
	orb.detect(srcGrayImage, keyPoint1);
	Mat descriImage1;
	orb.compute(srcGrayImage, keyPoint1, descriImage1);

	/****************************************************************/
	flann::Index flannIndex(descriImage1, flann::LshIndexParams(12, 20, 2), cvflann::FLANN_DIST_HAMMING);
	/****************************************************************/

	VideoCapture capture;
	capture.open(0);
	capture.set(CV_CAP_PROP_FRAME_WIDTH, 360);
	capture.set(CV_CAP_PROP_FRAME_HEIGHT, 900);

	Mat frameImage, frameGrayImage;
	while (waitKey(1) != 27)
	{