opencv3.1 ORB特征点提取

#include <iostream>
#include <opencv2/opencv.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/features2d/features2d.hpp>
using namespace cv;
using namespace std;





int main(int argc, char **argv) {


    VideoCapture cap(0);
    Ptr<ORB> orb = ORB::create();


    vector<KeyPoint> keypoints;
    Mat descriptors;

    Mat src;
    if(!cap.isOpened())
    {
        cout << "video is not open!" << endl;
    }
    while(cap.isOpened())
    {cap >> src;
        Mat gray_src;
        cvtColor(src,gray_src,CV_BGR2GRAY);
    orb->detectAndCompute(gray_src, Mat(),keypoints, descriptors);
    Mat feature_points;
    drawKeypoints(gray_src,keypoints,feature_points,Scalar::all(-1));
    imshow("feature",feature_points);


    if(waitKey(30) == 's')
    {
        imwrite("get_points.png",src);

    }

    }
    return 0;

}