java opencv orb_Opencv3中ORB算法的使用

相信很多小伙伴在使用ORB算法的时候，一般会从网上搜一些代码作为参考，那么问题来了：在好多ORB程序中都会这么写：

ORB orb;

如果你使用的是Opencv3的版本，编译器就会报错：ORB是一个纯虚类，无法进行实例化。但在opencv2的版本中可以正常使用。这是为什么呢？

于是乎就在opencv3官方的Documents中寻找答案，ORB属于features2d模块中。在它的文档中终于发现了原因

Public Member Functions:virtual int getEdgeThreshold () const =0

virtual int getFastThreshold () const =0

virtual int getFirstLevel () const =0

virtual int getMaxFeatures () const =0

virtual int getNLevels () const =0

virtual int getPatchSize () const =0

virtual double getScaleFactor () const =0

virtual int getScoreType () const =0

virtual int getWTA_K () const =0

virtual void setEdgeThreshold (int edgeThreshold)=0

virtual void setFastThreshold (int fastThreshold)=0

virtual void setFirstLevel (int firstLevel)=0

virtual void setMaxFeatures (int maxFeatures)=0

virtual void setNLevels (int nlevels)=0

virtual void setPatchSize (int patchSize)=0

virtual void setScaleFactor (double scaleFactor)=0

virtual void setScoreType (int scoreType)=0

virtual void setWTA_K (int wta_k)=0

Static Public Member Functions：static Ptr< ORB > create (int nfeatures=500, float scaleFactor=1.2f, int nlevels=8, int edgeThreshold=31, int firstLevel=0, int WTA_K=2, int scoreType=ORB::HARRI

S_SCORE, int patchSize=31, int fastThreshold=20)

#include#include#include#include#include

using namespacestd;using namespacecv;intmain()

{//读取图片

Mat rgbd1 = imread("自己的图片Path");

Mat rgbd2= imread("自己的图片Path");//imshow("rgbd1", depth2);//waitKey(0);

Ptr orb =ORB::create();

vectorKeypoints1,Keypoints2;

Mat descriptors1,descriptors2;

orb->detectAndCompute(rgbd1, Mat(), Keypoints1, descriptors1);

orb->detectAndCompute(rgbd2, Mat(), Keypoints2, descriptors2);//cout << "Key points of image" << Keypoints.size() << endl;//可视化，显示关键点

Mat ShowKeypoints1, ShowKeypoints2;

drawKeypoints(rgbd1,Keypoints1,ShowKeypoints1);

drawKeypoints(rgbd2, Keypoints2, ShowKeypoints2);

imshow("Keypoints1", ShowKeypoints1);

imshow("Keypoints2", ShowKeypoints2);

waitKey(0);//Matching

vectormatches;

Ptr matcher =DescriptorMatcher::create("BruteForce");

matcher->match(descriptors1, descriptors2, matches);

cout<< "find out total" << matches.size() << "matches" <

Mat ShowMatches;

drawMatches(rgbd1,Keypoints1,rgbd2,Keypoints2,matches,ShowMatches);

imshow("matches", ShowMatches);

waitKey(0);return 0;

}

这是一个对两幅图片进行ORB提取特征，并进行Match的程序。可以看到对于orb的使用程序变成了

Ptr orb = ORB::create();

细心的读者应该已经发现Match类也变成了一个纯虚类使用方法与ORB类似：

Ptr matcher =DescriptorMatcher::create("BruteForce");

static Ptrcv::ORB::create (int nfeatures = 500,float scaleFactor = 1.2f,int nlevels = 8,int edgeThreshold = 31,int firstLevel = 0,int WTA_K = 2,int scoreType =ORB::HARRIS_SCORE,int patchSize = 31,int fastThreshold = 20)

下面是关于具体参数的解释有点多，就附上网址吧：

http://docs.opencv.org/3.2.0/db/d95/classcv_1_1ORB.html#adc371099dc902a9674bd98936e79739c

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原文链接：https://blog.csdn.net/bingoplus/article/details/60133565