ORB特征匹配

#include <iostream>
#include <opencv2/opencv.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/features2d/features2d.hpp>
#include "highgui.h"
#include <chrono>

using namespace std;
using namespace cv;

int main(int argc, char** argv) {
	
	//读取图像
	Mat img_1 = imread("H:/Chutu/000000.png");
	Mat img_2 = imread("H:/Chutu/000000.png");
	assert(img_1.data != nullptr && img_2.data != nullptr);


	//初始化
	vector<KeyPoint> keypoints_1, keypoints_2;//关键点
	Mat descriptors_1, descriptors_2;//描述子
	Ptr<FeatureDetector> detector = ORB::create();
	Ptr<DescriptorExtractor> descriptor = ORB::create();
	Ptr<DescriptorMatcher> matcher = DescriptorMatcher::create("BruteForce-Hamming");//暴力匹配

	//--第一步检测Oriented FAST角点位置
	chrono::steady_clock::time_point t1 = chrono::steady_clock::now();
	detector->detect(img_1, keypoints_1);
	detector->detect(img_2, keypoints_2);

	//--第二步根据角点位置计算BRIEF描述子
	descriptor->compute(img_1, keypoints_1, descriptors_1);
	descriptor->compute(img_2, keypoints_2, descriptors_2);
	chrono::steady_clock::time_point t2 = chrono::steady_clock::now();
	chrono::duration<double> time_used = chrono::duration_cast<chrono::duration<double>>(t2 - t1);
	cout << "extract ORB cost = " << time_used.count() << "seconds" << endl;

	Mat outimg1;
	drawKeypoints(img_1, keypoints_1, outimg1, Scalar::all(-1), DrawMatchesFlags::DEFAULT);
	imshow("ORB features", outimg1);

	//--第三步：对两幅图像中的BRIEF描述子进行匹配，使用Hamming距离
	vector<DMatch> matches;
	t1 = chrono::steady_clock::now();
	matcher->match(descriptors_1, descriptors_2, matches);
	t2 = chrono::steady_clock::now();
	time_used = chrono::duration_cast<chrono::duration<double>> (t2 - t1);
	cout << "match ORB cost = " << time_used.count() << "seconds." << endl;


	//--第四步：匹配点对筛选
	auto min_max = minmax_element(matches.begin(), matches.end(),
		[](const DMatch &m1, const DMatch &m2) {return m1.distance < m2.distance; });
	double min_dist = min_max.first->distance;
	double max_dist = min_max.second->distance;

	printf("-- Mat dist : %f \n", max_dist);
	printf("-- Mat dist : %f \n", min_dist);


	//当描述子之间的距离大于两倍的最小距离时，即认为匹配有误。但是有时最小距离会非常小，所以要设置一个经验值30作为下限
	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]);
		}
	}

	//--第五步：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("all matches", img_match);
	imshow("good matches", img_goodmatch);
	waitKey(0);
	DMatch m{ 0,0,256 };
	return 0;

}