ORB特征点匹配

    首先安装opencv以及opencv的features模块

// 来自高翔SLAM十四讲
#include<iostream>
#include<opencv2/core/core.hpp>
#include<opencv2/features2d/features2d.hpp>
#include<opencv2/highgui/highgui.hpp>

using namespace std;
using namespace cv;

int main(){
    Mat img_1 = imread("test.jpg",CV_LOAD_IMAGE_COLOR);
    Mat img_2 = imread("test.jpg",CV_LOAD_IMAGE_COLOR);

    // 初始化
    std::vector<KeyPoint> keypoints_1, keypoints_2;
    Mat descriptors_1, descriptors_2;
    Ptr<ORB> orb = ORB::create(500, 1.2f, 8, 31, 0, 2, ORB::HARRIS_SCORE, 31, 20);  // 汉明距离

    // 第一步：检测FAST角点位置
    orb->detect(img_1,keypoints_1);
    orb->detect(img_2, keypoints_2);

    // 第二步：根据角点位置计算BRIEF描述子
    orb->compute(img_1, keypoints_1, descriptors_1);
    orb->compute(img_2, keypoints_2, descriptors_2);

    // 显示检测出来的特征点
    Mat outimg1;
    drawKeypoints(img_1, keypoints_1, outimg1, Scalar::all(-1), DrawMatchesFlags::DEFAULT);
    imshow("ORB特征点检测", outimg1);

    // 第三步：对两幅图像中的BRIEF描述子进行匹配，使用汉明距离
    vector<DMatch> matches;
    BFMatcher matcher(NORM_HAMMING);       // 汉明距离的暴力匹配
    matcher.match(descriptors_1, descriptors_2, matches);

    // 第四步：对匹配点进行筛选
    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，即最相似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;
        min_dist = min_dist < dist ? min_dist : dist;
        max_dist = max_dist > dist ? max_dist : dist;
    }

    std::cout<<"-- Max dist : "<<max_dist<<std::endl;
    std::cout<<"-- Min dist : "<<min_dist<<std::endl;

    // 当描述子之间的距离大于两倍的最小距离时，认为匹配有误。
    // 有时候最小距离很小，所以还是要设置一个经验值作为下限
    std::vector<DMatch> good_matches;
    for(int i=0; i<descriptors_1.rows; i++){
        if(matches[i].distance <= max(2*min_dist, 30.0)){
            good_matches.push_back(matches[i]);
        }
    }

    // 第5步：绘制匹配结果
    Mat img_match;
    Mat img_goodmatch;
    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);
    imshow("所有匹配点",img_match);
    imshow("优化后的匹配点",img_goodmatch);
    waitKey(0);


    return 0;
}