ORB 特征检测与匹配

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

using namespace cv::xfeatures2d;
using namespace std;
using namespace cv;
// 计算图像的ORB特征及匹配
cv::Mat cacORBFeatureAndCompare(cv::Mat srcImage1,
	cv::Mat srcImage2)
{
	CV_Assert(srcImage1.data != NULL && srcImage2.data != NULL);
	// 转换为灰度
	cv::Mat grayMat1, grayMat2;
	cv::cvtColor(srcImage1, grayMat1, CV_RGB2GRAY);
	cv::cvtColor(srcImage2, grayMat2, CV_RGB2GRAY);
	// 关键点检测
	std::vector<KeyPoint> keyPoints1, keyPoints2;
	// 描述特征向量
	cv::Mat descriptorMat1, descriptorMat2;
	// 初始化ORB检测描述子
	cv::Ptr<Feature2D> orb = cv::ORB::create();

	// 计算兴趣点
	orb->detectAndCompute(grayMat1, Mat(), keyPoints1, descriptorMat1,false);
	orb->detectAndCompute(grayMat2, Mat(), keyPoints2, descriptorMat2,false);
	
	// 特征匹配
	BFMatcher matcher(NORM_HAMMING);
	std::vector<DMatch> mathces;
	matcher.match(descriptorMat1, descriptorMat2, mathces);
	// 绘制匹配点集
	Mat matchMat;
	drawMatches(srcImage1, keyPoints1,
		srcImage2, keyPoints2, mathces, matchMat);
	//cv::imshow("Mathces", matchMat);
	return matchMat;
}
int main()
{
	// 读取源图像及待匹配图像
	cv::Mat srcImage1 =
		cv::imread("..\\images\\hand1.jpg", 1);
	if (srcImage1.empty())
		return -1;
	cv::Mat srcImage2 =
		cv::imread("..\\images\\hand3.jpg", 1);
	if (srcImage2.empty())
		return -1;
	cv::Mat  matchMat = cacORBFeatureAndCompare(srcImage1, srcImage2);
	cv::imshow("matchMat", matchMat);
	cv::waitKey(0);
	return 0;
}

转载：http://blog.youkuaiyun.com/zhuwei1988