OpenCV圖像匹配算法之orb

utils.cpp與utils.h

//orb.cpp
#include "stdafx.h"
#include <cv.hpp>
#include <highgui.h>
#include "utils.h"
#include <iostream>
using namespace std;

void orb(char* path1, char* path2, INFO& info, bool show)
{
	double t1,t2;
	t1=cvGetTickCount();

	initModule_nonfree();
	Mat img1, img2;
	img1=imread(path1,0);
	img2=imread(path2,0);
	if(img1.data==NULL)
	{
		cout<<"The image can not been loaded: "<<path1<<endl;
		system("pause");
		exit(-1);
	}
	if(img2.data==NULL)
	{
		cout<<"The image can not been loaded: "<<path2<<endl;
		system("pause");
		exit(-1);
	}

	Ptr<OrbFeatureDetector> orb_detector;
	Ptr<DescriptorExtractor> orb_descriptor;
	vector<KeyPoint> kpts1_orb, kpts2_orb;
	Mat desc1_orb, desc2_orb;
	Ptr<cv::DescriptorMatcher> matcher_l1 = DescriptorMatcher::create("BruteForce-Hamming");		//二進制漢明距離匹配
	vector<Point2f> matches_orb, inliers_orb;
	vector<vector<DMatch> > dmatches_orb;

	orb_detector = new cv::OrbFeatureDetector(ORB_MAX_KPTS,ORB_SCALE_FACTOR,ORB_PYRAMID_LEVELS,
                                            ORB_EDGE_THRESHOLD,ORB_FIRST_PYRAMID_LEVEL,ORB_WTA_K,ORB_PATCH_SIZE);
	orb_descriptor = new cv::OrbDescriptorExtractor();
	orb_detector->detect(img1,kpts1_orb);
	orb_detector->detect(img2,kpts2_orb);
	info.n1 = kpts1_orb.size();
	info.n2 = kpts2_orb.size();

	orb_descriptor->compute(img1,kpts1_orb,desc1_orb);
	orb_descriptor->compute(img2,kpts2_orb,desc2_orb);
	matcher_l1->knnMatch(desc1_orb,desc2_orb,dmatches_orb,2);
	matches2points_nndr(kpts1_orb,kpts2_orb,dmatches_orb,matches_orb,DRATIO);
	info.m=matches_orb.size()/2;
    compute_inliers_ransac(matches_orb,inliers_orb,MIN_H_ERROR,false);
	info.rm=inliers_orb.size()/2;

	t2=cvGetTickCount();
	info.t=(t2-t1)/1000000.0/cvGetTickFrequency();

	Mat img1_rgb_orb = imread(path1,1);
	Mat img2_rgb_orb = imread(path2,1);
	Mat img_com_orb = Mat(Size(img1.cols*2,img1.rows),CV_8UC3);

	if(show == true)
	{
		draw_inliers(img1_rgb_orb,img2_rgb_orb,img_com_orb,inliers_orb,2);
		imshow("orb",img_com_orb);
		waitKey(0);
	}

	return;
}

使用

INFO orb_info;
orb(path1,path2,orb_info,false);
showInfo(orb_info);