基于KAZE的图像配准代码

#include<iostream>

//#include <opencv2/xfeatures2d.hpp>
#include <opencv2/opencv.hpp>


using namespace std;
using namespace cv;

void main()
{
    double start, duration_ms;
    cv::Mat mask1, mask2, imgshowcanny;
    cv::Mat imgShow1, imgShow2, imgShow3;
    // 声明并从data文件夹里读取两个rgb与深度图
    cv::Mat rgb1 = cv::imread("D:\\python_opencv\\source_image\\1123\\1\\1.jpg", 0);
    cv::Mat rgb2 = cv::imread("D:\\python_opencv\\source_image\\1123\\1\\2.jpg", 0);
    cv::Mat rgb3 = cv::imread("D:\\python_opencv\\source_image\\1123\\1\\3.jpg", 0);
    cv::Mat rgb4 = cv::imread("D:\\python_opencv\\source_image\\1123\\1\\4.jpg", 0);
    cv::Mat rgb5 = cv::imread("D:\\python_opencv\\source_image\\1123\\1\\5.jpg", 0);
    cv::Mat rgb6 = cv::imread("D:\\python_opencv\\source_image\\1123\\1\\6.jpg", 0);
    cv::Mat rgb7 = cv::imread("D:\\python_opencv\\source_image\\1123\\1\\7.jpg", 0);
    cv::Mat rgb8 = cv::imread("D:\\python_opencv\\source_image\\1123\\1\\8.jpg", 0);
    cv::Mat rgb9 = cv::imread("D:\\python_opencv\\source_image\\1123\\1\\9.jpg", 0);
    cv::Mat rgb10 = cv::imread("D:\\python_opencv\\source_image\\1123\\1\\10.jpg", 0);
    vector< cv::KeyPoint > kp1, kp2, kp3, kp4, kp5, kp6, kp7, kp8, kp9, kp10; //关键点
    mask1 = rgb1.clone();
    //边缘检测
    //cout << "Canny edge detection" << endl;
    //mask1 = Mat::zeros(rgb1.size(), CV_8UC1);
    //mask2 = Mat::zeros(rgb2.size(), CV_8UC1);
    cv::Canny(mask1, mask1, 50, 200, 3);
    //cv::Canny(rgb2, mask2, 50, 150, 3);
    cv::Mat element = getStructuringElement(MORPH_RECT, Size(3, 3));
    dilate(mask1, mask1, element);
    cv::imwrite("F:/study work/Visual Odometry dev/VO_practice_2016.4/算法测试/KAZE算法/data/mask1.jpg", mask1);
    imgshowcanny = mask1.clone();
    cv::resize(imgshowcanny, imgshowcanny, cv::Size(imgshowcanny.cols / 2, imgshowcanny.rows / 2));
    cv::imshow("mask", imgshowcanny);


    //特征检测算法：AKAZE
    cv::Ptr<cv::AKAZE> akaze = AKAZE::create(AKAZE::DESCRIPTOR_MLDB, 0, 3, 0.001f, 4, 4, KAZE::DIFF_PM_G2);
    Mat descriptors_1, descriptors_2, descriptors_3, descriptors_4, descriptors_5, descriptors_6, descriptors_7, descriptors_8, descriptors_9, descriptors_10;


    start = double(getTickCount());
    akaze->detectAndCompute(rgb1, mask1, kp1, descriptors_1, false);
    duration_ms = (double(getTickCount()) - start) * 1000 / getTickFrequency();//计时
    std::cout << "It took " << duration_ms << " ms to detect features in pic1 using AKAZE." << std::endl;

    start = double(getTickCount());
    akaze->detectAndCompute(rgb2, cv::Mat(), kp2, descriptors_2, false);
    duration_ms = (double(getTickCount()) - start) * 1000 / getTickFrequency();//计时
    std::cout << "It took " << duration_ms << " ms to detect features in pic2 using AKAZE." << std::endl;

    akaze->detectAndCompute(rgb3, cv::Mat(), kp3, descriptors_3, false);
    akaze->detectAndCompute(rgb4, cv::Mat(), kp4, descriptors_4, false);
    akaze->detectAndCompute(rgb5, cv::Mat(), kp5, descriptors_5, false);
    akaze->detectAndCompute(rgb6, cv::Mat(), kp6, descriptors_6, false);
    akaze->detectAndCompute(rgb7, cv::Mat(), kp7, descriptors_7, false);
    akaze->detectAndCompute(rgb8, cv::Mat(), kp8, descriptors_8, false);
    akaze->detectAndCompute(rgb9, cv::Mat(), kp9, descriptors_9, false);
    akaze->detectAndCompute(rgb10, cv::Mat(), kp10, descriptors_10, false);
    // 可视化， 显示特征点
    cout << "Key po