OpenCvSharp特征点SURF提取

        /// <summary>
        /// 特征点提取
        /// </summary>
        /// <param name="image_names">输入的图像路径</param>
        /// <param name="key_points_for_all">生成的特征点集</param>
        /// <param name="descriptor_for_all">生成的特征点描述符</param>
        /// <param name="colors_for_all"></param>
        private void ExtractFeatures(List<string> image_names, List<KeyPoint[]> key_points_for_all, List<Mat> descriptor_for_all, List<Vec3b[]> colors_for_all)
        {
            key_points_for_all.Clear();
            descriptor_for_all.Clear();
            Mat image;
            //读取图像，获取图像特征点，并保存
            var MySurf = OpenCvSharp.XFeatures2D.SURF.Create(800, 4, 3, true, true);

            for (int it = 0; it <= image_names.Count - 1; ++it)
            {
                image = Cv2.ImRead(image_names[it]);
                if (image.Empty()) continue;
                Mat descriptor = new Mat();
                Mat mask = new Mat();

                KeyPoint[] key_points;
                //偶尔出现内存分配失败的错误
                MySurf.DetectAndCompute(image, mask, out key_points, descriptor);

                //特征点过少，则排除该图像
                if (key_points.Length <= 10) continue;

                key_points_for_all.Add(key_points);
                descriptor_for_all.Add(descriptor);
                Vec3b[] colors = new Vec3b[key_points.Length];
                for (int i = 0; i < key_points.Length - 1; ++i)
                {
                    Point2f p = key_points[i].Pt;
                    colors[i] = image.At<Vec3b>((int)p.Y, (int)p.X);
                }
                colors_for_all.Add(colors);                

            }
        }