视觉SLAM学习【2】—–ubuntu16.04基于kitti数据集的SLAM中ORB特征点提取及暴力匹配目录
- 一、Kitti数据集
- 1、什么是Kitti数据集？
- 2、Kitti完整数据集的获取
- 3、Kitti数据集上传至ubuntu
- 二、编写kitti数据集的ORB特征点的提取及暴力匹配代码
- 1、创建cpp格式文件
- 2、编写相应功能的C++代码
- 三、实验整体代码
- 四、运行结果测试
- 1、程序编译
- 2、程序运行
- 3、运行结果
上次博客，林君学长讲解了如何对我们拍摄的物体进行SLAM中ORB特征点提取及暴力匹配；但这种匹配是但方面的，少数的，不具有代表性的，所以，我们需要大量的数据进行对应的匹配，因此，本次博客，林君学长将借助kitti数据集进行SLAM中ORB特征点提取及暴力匹配，作为我们对于特征点提取及暴力匹配的一次实验性作业 Kitti数据集的处理要求：
- 循环依次读取一个序列图片（几百张文件名按序号递增的文件），计算相邻3幅图片中的ORB特征点，连线匹配之，并绘制在当前窗口上。即: 第1次计算文件编号为001、002、003的3张图片的ORB特征点，并匹配连线，显示于当前窗口；第2次计算文件编号为003、004、005的3张图片的ORB特征点，并匹配连线，显示于当前窗口，依次类推。
- 如果中间出现ORB特征点匹配数小于4，cout输出一个提示信息“匹配点过少！”。
一、Kitti数据集
1、什么是Kitti数据集？
KITTI数据集由德国卡尔斯鲁厄理工学院和丰田美国技术研究院联合创办，是目前国际上最大的自动驾驶场景下的算法评测数据集。该数据集用于评测立体图像(stereo)，光流(optical flow)，视觉测距(visual odometry)，3D物体检测(object detection)和3D跟踪(tracking)等计算机视觉技术在车载环境下的性能。
2、Kitti完整数据集的获取
（1）、由于该Kitti的数据集是国外创办的，所以原始下载地址为国外源，同时也是非常大的，如何小伙伴需要该数据集，课通过如下链接进行下载，还是很慢的：http://share.funcs.xyz/
（2）、当然小伙伴还可以通过国内的源进行下载，下载速度可能会快一些 https://test.functionweb.tk/data/
（3）、如果小伙伴只是为了测试ORB的特征点匹配，那么便可以下载林君学长上传的kitti数据集的部分资源，林君学长截取了50张图片序列，大约40多M，小伙伴可以通过以下链接快速下载： https://download.csdn.net/download/qq_42451251/12403267
3、Kitti数据集上传至ubuntu
（1）、将kitti数据集上传至ubuntu自己适合的位置，比如林君学长就在上传到opencv对应的测试目录下面的，方便我们测试:
二、编写kitti数据集的ORB特征点的提取及暴力匹配代码
1、创建cpp格式文件
（1）、进入opencv安装目录
<code class="prism language-bash has-numbering"><span class="token function">cd</span> ~/lenovo/opencv-3.4.1/SLAM_ORB <span class="token function">touch</span> slamORB1.cpp gedit slamORB1.cpp </code>
2、编写相应功能的C++代码
（1）、导入相关opencv库及定义圆周率
<code class="prism language-cpp has-numbering"><span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string"><opencv2/opencv.hpp></span></span> <span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string"><iostream></span></span> <span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string"><vector></span></span> <span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string"><string></span></span> <span class="token macro property">#<span class="token directive keyword">include</span><span class="token string"><sstream></span></span> <span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string"><fstream></span></span> <span class="token keyword">using</span> <span class="token keyword">namespace</span> cv<span class="token punctuation">;</span> <span class="token keyword">using</span> <span class="token keyword">namespace</span> std<span class="token punctuation">;</span> <span class="token comment">// global variables</span> <span class="token keyword">const</span> <span class="token keyword">double</span> pi <span class="token operator">=</span> <span class="token number">3.1415926</span><span class="token punctuation">;</span> <span class="token comment">// pi</span> </code>
（2）、计算角度功能函数编写
<code class="prism language-cpp has-numbering"><span class="token comment">// compute the angle</span>
<span class="token keyword">void</span> <span class="token function">computeAngle</span><span class="token punctuation">(</span><span class="token keyword">const</span> cv<span class="token operator">::</span>Mat <span class="token operator">&</span>image<span class="token punctuation">,</span> vector<span class="token operator"><</span>cv<span class="token operator">::</span>KeyPoint<span class="token operator">></span> <span class="token operator">&</span>keypoints<span class="token punctuation">)</span> <span class="token punctuation">{</span>
<span class="token keyword">int</span> half_patch_size <span class="token operator">=</span> <span class="token number">8</span><span class="token punctuation">;</span>
<span class="token keyword">for</span> <span class="token punctuation">(</span><span class="token keyword">auto</span> <span class="token operator">&</span>kp <span class="token operator">:</span> keypoints<span class="token punctuation">)</span> <span class="token punctuation">{</span>
<span class="token comment">// START YOUR CODE HERE (~7 lines)</span>
<span class="token comment">// kp.angle = 0; // compute kp.angle</span>
<span class="token keyword">double</span> m10 <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span>
<span class="token keyword">double</span> m01 <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span>
<span class="token keyword">int</span> x <span class="token operator">=</span><span class="token function">cvRound</span><span class="token punctuation">(</span>kp<span class="token punctuation">.</span>pt<span class="token punctuation">.</span>x<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token keyword">int</span> y <span class="token operator">=</span><span class="token function">cvRound</span><span class="token punctuation">(</span>kp<span class="token punctuation">.</span>pt<span class="token punctuation">.</span>y<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token keyword">if</span><span class="token punctuation">(</span>x<span class="token operator">-</span>half_patch_size<span class="token operator"><</span><span class="token number">0</span><span class="token operator">||</span>x<span class="token operator">+</span>half_patch_size<span class="token operator">></span>image<span class="token punctuation">.</span>cols<span class="token operator">||</span>
y<span class="token operator">-</span>half_patch_size<span class="token operator"><</span><span class="token number">0</span><span class="token operator">||</span>y<span class="token operator">+</span>half_patch_size<span class="token operator">></span>image<span class="token punctuation">.</span>rows<span class="token punctuation">)</span>
<span class="token keyword">continue</span><span class="token punctuation">;</span>
<span class="token keyword">for</span><span class="token punctuation">(</span><span class="token keyword">int</span> u <span class="token operator">=</span> x <span class="token operator">-</span> half_patch_size<span class="token punctuation">;</span>u<span class="token operator"><</span>x <span class="token operator">+</span> half_patch_size<span class="token punctuation">;</span><span class="token operator">++</span>u<span class="token punctuation">)</span>
<span class="token punctuation">{</span>
<span class="token keyword">for</span><span class="token punctuation">(</span><span class="token keyword">int</span> v <span class="token operator">=</span> y <span class="token operator">-</span>half_patch_size<span class="token punctuation">;</span>v<span class="token operator"><</span> y <span class="token operator">+</span> half_patch_size<span class="token punctuation">;</span><span class="token operator">++</span>v<span class="token punctuation">)</span>
<span class="token punctuation">{</span>
m10 <span class="token operator">+</span><span class="token operator">=</span> <span class="token punctuation">(</span>u<span class="token operator">-</span>x<span class="token punctuation">)</span><span class="token operator">*</span>image<span class="token punctuation">.</span>at<span class="token operator"><</span>uchar<span class="token operator">></span><span class="token punctuation">(</span>v<span class="token punctuation">,</span>u<span class="token punctuation">)</span><span class="token punctuation">;</span>
m01 <span class="token operator">+</span><span class="token operator">=</span> <span class="token punctuation">(</span>v<span class="token operator">-</span>y<span class="token punctuation">)</span><span class="token operator">*</span>image<span class="token punctuation">.</span>at<span class="token operator"><</span>uchar<span class="token operator">></span><span class="token punctuation">(</span>v<span class="token punctuation">,</span>u<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token punctuation">}</span>
<span class="token keyword">double</span> theta <span class="token operator">=</span> std<span class="token operator">::</span><span class="token function">atan</span><span class="token punctuation">(</span>m01<span class="token operator">/</span>m10<span class="token punctuation">)</span><span class="token punctuation">;</span>
kp<span class="token punctuation">.</span>angle <span class="token operator">=</span> theta <span class="token operator">*</span> <span class="token number">180</span><span class="token operator">/</span>pi<span class="token punctuation">;</span>
cout<span class="token operator"><<</span><span class="token string">"kp.angel:"</span><span class="token operator"><<</span>kp<span class="token punctuation">.</span>angle<span class="token operator"><<</span>endl<span class="token punctuation">;</span>
<span class="token comment">// END YOUR CODE HERE</span>
<span class="token punctuation">}</span>
<span class="token keyword">return</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
</code>
（3）、计算描述符的功能函数编写
<code class="prism language-cpp has-numbering"><span class="token comment">// compute the descriptor</span>
<span class="token keyword">void</span> <span class="token function">computeORBDesc</span><span class="token punctuation">(</span><span class="token keyword">const</span> cv<span class="token operator">::</span>Mat <span class="token operator">&</span>image<span class="token punctuation">,</span> vector<span class="token operator"><</span>cv<span class="token operator">::</span>KeyPoint<span class="token operator">></span> <span class="token operator">&</span>keypoints<span class="token punctuation">,</span> vector<span class="token operator"><</span>DescType<span class="token operator">></span> <span class="token operator">&</span>desc<span class="token punctuation">)</span> <span class="token punctuation">{</span>
<span class="token keyword">for</span> <span class="token punctuation">(</span><span class="token keyword">auto</span> <span class="token operator">&</span>kp<span class="token operator">:</span> keypoints<span class="token punctuation">)</span> <span class="token punctuation">{</span>
DescType <span class="token function">d</span><span class="token punctuation">(</span><span class="token number">256</span><span class="token punctuation">,</span> <span class="token boolean">false</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token keyword">double</span> un_up<span class="token punctuation">,</span>un_vp<span class="token punctuation">,</span>un_uq<span class="token punctuation">,</span>un_vq<span class="token punctuation">;</span> <span class="token comment">// 一对点；</span>
<span class="token keyword">double</span> up<span class="token punctuation">,</span>vp<span class="token punctuation">,</span>uq<span class="token punctuation">,</span>vq<span class="token punctuation">;</span> <span class="token comment">// 旋转后的点；</span>
<span class="token keyword">for</span> <span class="token punctuation">(</span><span class="token keyword">int</span> i <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span> i <span class="token operator"><</span> <span class="token number">256</span><span class="token punctuation">;</span> i<span class="token operator">++</span><span class="token punctuation">)</span> <span class="token punctuation">{</span>
<span class="token comment">// START YOUR CODE HERE (~7 lines)</span>
d<span class="token punctuation">[</span>i<span class="token punctuation">]</span> <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span> <span class="token comment">// if kp goes outside, set d.clear()</span>
un_up <span class="token operator">=</span> ORB_pattern<span class="token punctuation">[</span>i<span class="token operator">*</span><span class="token number">4</span><span class="token punctuation">]</span><span class="token punctuation">;</span>
un_vp <span class="token operator">=</span> ORB_pattern<span class="token punctuation">[</span>i<span class="token operator">*</span><span class="token number">4</span><span class="token operator">+</span><span class="token number">1</span><span class="token punctuation">]</span><span class="token punctuation">;</span>
un_uq <span class="token operator">=</span> ORB_pattern<span class="token punctuation">[</span>i<span class="token operator">*</span><span class="token number">4</span><span class="token operator">+</span><span class="token number">2</span><span class="token punctuation">]</span><span class="token punctuation">;</span>
un_vq <span class="token operator">=</span> ORB_pattern<span class="token punctuation">[</span>i<span class="token operator">*</span><span class="token number">4</span><span class="token operator">+</span><span class="token number">3</span><span class="token punctuation">]</span><span class="token punctuation">;</span> <span class="token comment">// 比较两组点的灰度值大小；</span>
<span class="token comment">// 旋转到主方向上；</span>
<span class="token keyword">double</span> angle <span class="token operator">=</span> kp<span class="token punctuation">.</span>angle <span class="token operator">*</span> <span class="token punctuation">(</span>pi<span class="token operator">/</span><span class="token number">180</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
up <span class="token operator">=</span>kp<span class="token punctuation">.</span>pt<span class="token punctuation">.</span>x<span class="token operator">+</span> <span class="token function">cos</span><span class="token punctuation">(</span>angle<span class="token punctuation">)</span><span class="token operator">*</span>un_up<span class="token operator">-</span><span class="token function">sin</span><span class="token punctuation">(</span>angle<span class="token punctuation">)</span><span class="token operator">*</span>un_vp<span class="token punctuation">;</span>
vp <span class="token operator">=</span>kp<span class="token punctuation">.</span>pt<span class="token punctuation">.</span>y<span class="token operator">+</span> <span class="token function">sin</span><span class="token punctuation">(</span>angle<span class="token punctuation">)</span><span class="token operator">*</span>un_up <span class="token operator">+</span> <span class="token function">cos</span><span class="token punctuation">(</span>angle<span class="token punctuation">)</span><span class="token operator">*</span>un_vp<span class="token punctuation">;</span>
uq <span class="token operator">=</span>kp<span class="token punctuation">.</span>pt<span class="token punctuation">.</span>x<span class="token operator">+</span> <span class="token function">cos</span><span class="token punctuation">(</span>angle<span class="token punctuation">)</span><span class="token operator">*</span>un_uq<span class="token operator">-</span><span class="token function">sin</span><span class="token punctuation">(</span>angle<span class="token punctuation">)</span><span class="token operator">*</span>un_vq<span class="token punctuation">;</span>
vq <span class="token operator">=</span>kp<span class="token punctuation">.</span>pt<span class="token punctuation">.</span>y<span class="token operator">+</span> <span class="token function">sin</span><span class="token punctuation">(</span>angle<span class="token punctuation">)</span><span class="token operator">*</span>un_uq <span class="token operator">+</span> <span class="token function">cos</span><span class="token punctuation">(</span>angle<span class="token punctuation">)</span><span class="token operator">*</span>un_vq<span class="token punctuation">;</span>
<span class="token comment">//边界约束；</span>
<span class="token keyword">if</span><span class="token punctuation">(</span>up<span class="token operator">></span>image<span class="token punctuation">.</span>cols<span class="token operator">||</span>up<span class="token operator"><</span><span class="token number">0</span> <span class="token operator">||</span> vp <span class="token operator"><</span><span class="token number">0</span><span class="token operator">||</span>vp<span class="token operator">></span>image<span class="token punctuation">.</span>rows<span class="token operator">||</span>uq<span class="token operator">></span>image<span class="token punctuation">.</span>cols<span class="token operator">||</span>uq<span class="token operator"><</span><span class="token number">0</span> <span class="token operator">||</span> vq <span class="token operator"><</span><span class="token number">0</span><span class="token operator">||</span>vq<span class="token operator">></span>image<span class="token punctuation">.</span>rows<span class="token punctuation">)</span>
<span class="token punctuation">{</span>
d<span class="token punctuation">.</span><span class="token function">clear</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span><span class="token comment">//超出边界，特征点描述子清零；</span>
<span class="token keyword">break</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token keyword">else</span> <span class="token keyword">if</span><span class="token punctuation">(</span>image<span class="token punctuation">.</span>at<span class="token operator"><</span>uchar<span class="token operator">></span><span class="token punctuation">(</span>vp<span class="token punctuation">,</span>up<span class="token punctuation">)</span><span class="token operator"><</span>image<span class="token punctuation">.</span>at<span class="token operator"><</span>uchar<span class="token operator">></span><span class="token punctuation">(</span>vq<span class="token punctuation">,</span>uq<span class="token punctuation">)</span><span class="token punctuation">)</span>
<span class="token punctuation">{</span>
d<span class="token punctuation">[</span>i<span class="token punctuation">]</span><span class="token operator">=</span><span class="token number">1</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token comment">// END YOUR CODE HERE</span>
<span class="token punctuation">}</span>
desc<span class="token punctuation">.</span><span class="token function">push_back</span><span class="token punctuation">(</span>d<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token keyword">int</span> bad <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span>
<span class="token keyword">for</span> <span class="token punctuation">(</span><span class="token keyword">auto</span> <span class="token operator">&</span>d<span class="token operator">:</span> desc<span class="token punctuation">)</span> <span class="token punctuation">{</span>
<span class="token keyword">if</span> <span class="token punctuation">(</span>d<span class="token punctuation">.</span><span class="token function">empty</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">)</span> bad<span class="token operator">++</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
cout <span class="token operator"><<</span> <span class="token string">"bad/total: "</span> <span class="token operator"><<</span> bad <span class="token operator"><<</span> <span class="token string">"/"</span> <span class="token operator"><<</span> desc<span class="token punctuation">.</span><span class="token function">size</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
<span class="token keyword">return</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
</code>
（4）、暴力匹配功能函数编写
<code class="prism language-cpp has-numbering"><span class="token comment">// brute-force matching</span>
<span class="token keyword">void</span> <span class="token function">bfMatch</span><span class="token punctuation">(</span><span class="token keyword">const</span> vector<span class="token operator"><</span>DescType<span class="token operator">></span> <span class="token operator">&</span>desc1<span class="token punctuation">,</span> <span class="token keyword">const</span> vector<span class="token operator"><</span>DescType<span class="token operator">></span> <span class="token operator">&</span>desc2<span class="token punctuation">,</span> vector<span class="token operator"><</span>cv<span class="token operator">::</span>DMatch<span class="token operator">></span> <span class="token operator">&</span>matches<span class="token punctuation">)</span> <span class="token punctuation">{</span>
<span class="token keyword">int</span> d_max <span class="token operator">=</span> <span class="token number">50</span><span class="token punctuation">;</span>
<span class="token keyword">int</span> d <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span>
<span class="token keyword">int</span> queryIdx<span class="token punctuation">,</span>trainIdx<span class="token punctuation">;</span>
<span class="token keyword">int</span> dis<span class="token punctuation">;</span>
<span class="token comment">// START YOUR CODE HERE (~12 lines)</span>
<span class="token comment">// find matches between desc1 and desc2.</span>
<span class="token keyword">for</span><span class="token punctuation">(</span><span class="token keyword">int</span> i <span class="token operator">=</span><span class="token number">0</span><span class="token punctuation">;</span>i<span class="token operator"><</span>desc1<span class="token punctuation">.</span><span class="token function">size</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span><span class="token operator">++</span>i<span class="token punctuation">)</span>
<span class="token punctuation">{</span>
<span class="token keyword">if</span><span class="token punctuation">(</span>desc1<span class="token punctuation">[</span>i<span class="token punctuation">]</span><span class="token punctuation">.</span><span class="token function">empty</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">)</span>
<span class="token keyword">continue</span><span class="token punctuation">;</span>
d<span class="token operator">=</span><span class="token number">0</span><span class="token punctuation">;</span>
dis <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span>
<span class="token keyword">for</span><span class="token punctuation">(</span><span class="token keyword">int</span> j <span class="token operator">=</span><span class="token number">0</span><span class="token punctuation">;</span>j<span class="token operator"><</span>desc2<span class="token punctuation">.</span><span class="token function">size</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span><span class="token operator">++</span>j<span class="token punctuation">)</span>
<span class="token punctuation">{</span>
<span class="token keyword">if</span><span class="token punctuation">(</span>desc2<span class="token punctuation">[</span>j<span class="token punctuation">]</span><span class="token punctuation">.</span><span class="token function">empty</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">)</span>
<span class="token keyword">continue</span><span class="token punctuation">;</span>
d<span class="token operator">=</span><span class="token number">0</span><span class="token punctuation">;</span>
<span class="token keyword">for</span><span class="token punctuation">(</span><span class="token keyword">int</span> k <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span>k<span class="token operator"><</span><span class="token number">256</span><span class="token punctuation">;</span><span class="token operator">++</span>k<span class="token punctuation">)</span>
<span class="token punctuation">{</span>
<span class="token keyword">if</span><span class="token punctuation">(</span>desc1<span class="token punctuation">[</span>i<span class="token punctuation">]</span><span class="token punctuation">[</span>k<span class="token punctuation">]</span> <span class="token operator">!=</span> desc2<span class="token punctuation">[</span>j<span class="token punctuation">]</span><span class="token punctuation">[</span>k<span class="token punctuation">]</span><span class="token punctuation">)</span>
d <span class="token operator">+</span><span class="token operator">=</span> <span class="token number">1</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token comment">// cout<<"d: "<<d<<endl;</span>
<span class="token keyword">if</span> <span class="token punctuation">(</span>d<span class="token operator"><</span>d_max<span class="token operator">&&</span><span class="token punctuation">(</span>dis<span class="token operator">==</span><span class="token number">0</span><span class="token operator">||</span>d<span class="token operator"><</span>dis<span class="token punctuation">)</span><span class="token punctuation">)</span>
<span class="token punctuation">{</span>
dis <span class="token operator">=</span> d<span class="token punctuation">;</span>
queryIdx <span class="token operator">=</span> i<span class="token punctuation">;</span>
trainIdx <span class="token operator">=</span> j<span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token punctuation">}</span>
<span class="token keyword">if</span><span class="token punctuation">(</span>dis <span class="token operator">!=</span> <span class="token number">0</span><span class="token punctuation">)</span> <span class="token comment">//匹配到了；</span>
<span class="token punctuation">{</span>
matches<span class="token punctuation">.</span><span class="token function">push_back</span><span class="token punctuation">(</span>cv<span class="token operator">::</span><span class="token function">DMatch</span><span class="token punctuation">(</span>queryIdx<span class="token punctuation">,</span>trainIdx<span class="token punctuation">,</span>dis<span class="token punctuation">)</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token punctuation">}</span>
<span class="token comment">// END YOUR CODE HERE</span>
<span class="token keyword">for</span> <span class="token punctuation">(</span><span class="token keyword">auto</span> <span class="token operator">&</span>m<span class="token operator">:</span> matches<span class="token punctuation">)</span> <span class="token punctuation">{</span>
cout <span class="token operator"><<</span> m<span class="token punctuation">.</span>queryIdx <span class="token operator"><<</span> <span class="token string">", "</span> <span class="token operator"><<</span> m<span class="token punctuation">.</span>trainIdx <span class="token operator"><<</span> <span class="token string">", "</span> <span class="token operator"><<</span> m<span class="token punctuation">.</span>distance <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token keyword">return</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
</code>
（5）、主函数相关调用如下所示：
<code class="prism language-cpp has-numbering"><span class="token keyword">int</span> <span class="token function">main</span><span class="token punctuation">(</span><span class="token keyword">int</span> argc<span class="token punctuation">,</span> <span class="token keyword">char</span> <span class="token operator">*</span><span class="token operator">*</span>argv<span class="token punctuation">)</span> <span class="token punctuation">{</span>
std<span class="token operator">::</span>string pattern_jpg <span class="token operator">=</span><span class="token string">"./kitti_Image/Kitti_image_2/*.png"</span><span class="token punctuation">;</span>
std<span class="token operator">::</span>vector<span class="token operator"><</span>cv<span class="token operator">::</span>String<span class="token operator">></span> image_files<span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">glob</span><span class="token punctuation">(</span>pattern_jpg<span class="token punctuation">,</span> image_files<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token keyword">for</span> <span class="token punctuation">(</span><span class="token keyword">unsigned</span> <span class="token keyword">int</span> frame <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span> frame <span class="token operator"><</span> image_files<span class="token punctuation">.</span><span class="token function">size</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span> <span class="token operator">++</span>frame<span class="token punctuation">)</span> <span class="token punctuation">{</span><span class="token comment">//image_file.size()代表文件中总共的图片个数</span>
<span class="token operator">/</span><span class="token operator">/</span><span class="token function">imshow</span><span class="token punctuation">(</span><span class="token string">"1"</span><span class="token punctuation">,</span> image<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span><span class="token function">imshow</span><span class="token punctuation">(</span><span class="token string">"2"</span><span class="token punctuation">,</span> image1<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span><span class="token function">waitKey</span><span class="token punctuation">(</span><span class="token number">30</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> load image
cv<span class="token operator">::</span>Mat first_image <span class="token operator">=</span> cv<span class="token operator">::</span><span class="token function">imread</span><span class="token punctuation">(</span>image_files<span class="token punctuation">[</span>frame<span class="token punctuation">]</span><span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span> <span class="token operator">/</span><span class="token operator">/</span> load grayscale image
cv<span class="token operator">::</span>Mat second_image <span class="token operator">=</span> cv<span class="token operator">::</span><span class="token function">imread</span><span class="token punctuation">(</span>image_files<span class="token punctuation">[</span>frame<span class="token operator">+</span><span class="token number">1</span><span class="token punctuation">]</span><span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span> <span class="token operator">/</span><span class="token operator">/</span> load grayscale image
<span class="token operator">/</span><span class="token operator">/</span> plot the image
<span class="token operator">/</span><span class="token operator">/</span>cv<span class="token operator">::</span><span class="token function">imshow</span><span class="token punctuation">(</span><span class="token string">"first image"</span><span class="token punctuation">,</span> first_image<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span>cv<span class="token operator">::</span><span class="token function">imshow</span><span class="token punctuation">(</span><span class="token string">"second image"</span><span class="token punctuation">,</span> second_image<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span>cv<span class="token operator">::</span><span class="token function">waitKey</span><span class="token punctuation">(</span><span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> detect FAST keypoints <span class="token keyword">using</span> threshold<span class="token operator">=</span><span class="token number">40</span>
vector<span class="token operator"><</span>cv<span class="token operator">::</span>KeyPoint<span class="token operator">></span> keypoints<span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">FAST</span><span class="token punctuation">(</span>first_image<span class="token punctuation">,</span> keypoints<span class="token punctuation">,</span> <span class="token number">40</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
cout <span class="token operator"><<</span> <span class="token string">"keypoints: "</span> <span class="token operator"><<</span> keypoints<span class="token punctuation">.</span><span class="token function">size</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> compute angle <span class="token keyword">for</span> each keypoint
<span class="token function">computeAngle</span><span class="token punctuation">(</span>first_image<span class="token punctuation">,</span> keypoints<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> compute ORB descriptors
vector<span class="token operator"><</span>DescType<span class="token operator">></span> descriptors<span class="token punctuation">;</span>
<span class="token function">computeORBDesc</span><span class="token punctuation">(</span>first_image<span class="token punctuation">,</span> keypoints<span class="token punctuation">,</span> descriptors<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> plot the keypoints
cv<span class="token operator">::</span>Mat image_show<span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">drawKeypoints</span><span class="token punctuation">(</span>first_image<span class="token punctuation">,</span> keypoints<span class="token punctuation">,</span> image_show<span class="token punctuation">,</span> cv<span class="token operator">::</span>Scalar<span class="token operator">::</span><span class="token function">all</span><span class="token punctuation">(</span><span class="token operator">-</span><span class="token number">1</span><span class="token punctuation">)</span><span class="token punctuation">,</span>
cv<span class="token operator">::</span>DrawMatchesFlags<span class="token operator">::</span>DRAW_RICH_KEYPOINTS<span class="token punctuation">)</span><span class="token punctuation">;</span>
string a<span class="token operator">=</span><span class="token string">"feature"</span><span class="token punctuation">;</span>
string b<span class="token operator">=</span><span class="token string">".png"</span><span class="token punctuation">;</span>
stringstream ss<span class="token punctuation">;</span>
ss<span class="token operator"><<</span>a<span class="token operator"><<</span>frame<span class="token operator"><<</span>b<span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> cv<span class="token operator">::</span><span class="token function">imshow</span><span class="token punctuation">(</span>ss<span class="token punctuation">.</span><span class="token function">str</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">,</span> image_show<span class="token punctuation">)</span><span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">imwrite</span><span class="token punctuation">(</span>ss<span class="token punctuation">.</span><span class="token function">str</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">,</span> image_show<span class="token punctuation">)</span><span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">waitKey</span><span class="token punctuation">(</span><span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> we can also match descriptors between images
<span class="token operator">/</span><span class="token operator">/</span> same <span class="token keyword">for</span> the second
vector<span class="token operator"><</span>cv<span class="token operator">::</span>KeyPoint<span class="token operator">></span> keypoints2<span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">FAST</span><span class="token punctuation">(</span>second_image<span class="token punctuation">,</span> keypoints2<span class="token punctuation">,</span> <span class="token number">40</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
cout <span class="token operator"><<</span> <span class="token string">"keypoints: "</span> <span class="token operator"><<</span> keypoints2<span class="token punctuation">.</span><span class="token function">size</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> compute angle <span class="token keyword">for</span> each keypoint
<span class="token function">computeAngle</span><span class="token punctuation">(</span>second_image<span class="token punctuation">,</span> keypoints2<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> compute ORB descriptors
vector<span class="token operator"><</span>DescType<span class="token operator">></span> descriptors2<span class="token punctuation">;</span>
<span class="token function">computeORBDesc</span><span class="token punctuation">(</span>second_image<span class="token punctuation">,</span> keypoints2<span class="token punctuation">,</span> descriptors2<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> find matches
vector<span class="token operator"><</span>cv<span class="token operator">::</span>DMatch<span class="token operator">></span> matches<span class="token punctuation">;</span>
<span class="token function">bfMatch</span><span class="token punctuation">(</span>descriptors<span class="token punctuation">,</span> descriptors2<span class="token punctuation">,</span> matches<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token keyword">if</span> <span class="token punctuation">(</span>matches<span class="token punctuation">.</span><span class="token function">size</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token operator"><</span><span class="token number">4</span><span class="token punctuation">)</span>
<span class="token punctuation">{</span>
cout<span class="token operator"><<</span><span class="token string">"匹配点过少!"</span><span class="token operator"><<</span>endl<span class="token punctuation">;</span>
<span class="token punctuation">}</span>
cout <span class="token operator"><<</span> <span class="token string">"matches: "</span> <span class="token operator"><<</span> matches<span class="token punctuation">.</span><span class="token function">size</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> plot the matches
cv<span class="token operator">::</span><span class="token function">drawMatches</span><span class="token punctuation">(</span>first_image<span class="token punctuation">,</span> keypoints<span class="token punctuation">,</span> second_image<span class="token punctuation">,</span> keypoints2<span class="token punctuation">,</span> matches<span class="token punctuation">,</span> image_show<span class="token punctuation">)</span><span class="token punctuation">;</span>
string c<span class="token operator">=</span><span class="token string">"matches"</span><span class="token punctuation">;</span>
string d<span class="token operator">=</span><span class="token string">".png"</span><span class="token punctuation">;</span>
stringstream sb<span class="token punctuation">;</span>
sb<span class="token operator"><<</span>c<span class="token operator"><<</span>frame<span class="token operator"><<</span>d<span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">imshow</span><span class="token punctuation">(</span>sb<span class="token punctuation">.</span><span class="token function">str</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">,</span> image_show<span class="token punctuation">)</span><span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">imwrite</span><span class="token punctuation">(</span>sb<span class="token punctuation">.</span><span class="token function">str</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">,</span> image_show<span class="token punctuation">)</span><span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">waitKey</span><span class="token punctuation">(</span><span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
cout <span class="token operator"><<</span> <span class="token string">"done."</span> <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
cout<span class="token operator"><<</span>endl<span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token keyword">return</span> <span class="token number">0</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span></code>
std::string pattern_jpg =”./kitti_Image/Kitti_image_2/*.png”; 这一句中的数据集的路径为我们放置数据集路径哦！
三、实验整体代码
<code class="prism language-cpp has-numbering"></code>
<code class="prism language-cpp has-numbering"></code>
<code class="prism language-cpp has-numbering"><span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string"><opencv2/opencv.hpp></span></span>
<span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string"><iostream></span></span>
<span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string"><vector></span></span>
<span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string"><string></span></span>
<span class="token macro property">#<span class="token directive keyword">include</span><span class="token string"><sstream></span></span>
<span class="token macro property">#<span class="token directive keyword">include</span> <span class="token string"><fstream></span></span>
<span class="token keyword">using</span> <span class="token keyword">namespace</span> cv<span class="token punctuation">;</span>
<span class="token keyword">using</span> <span class="token keyword">namespace</span> std<span class="token punctuation">;</span>
<span class="token comment">// global variables</span>
<span class="token keyword">const</span> <span class="token keyword">double</span> pi <span class="token operator">=</span> <span class="token number">3.1415926</span><span class="token punctuation">;</span> <span class="token comment">// pi</span>
<span class="token comment">// TODO implement this function</span>
<span class="token comment">/**
* compute the angle for ORB descriptor
* @param [in] image input image
* @param [in|out] detected keypoints
*/</span>
<span class="token keyword">void</span> <span class="token function">computeAngle</span><span class="token punctuation">(</span><span class="token keyword">const</span> cv<span class="token operator">::</span>Mat <span class="token operator">&</span>image<span class="token punctuation">,</span> vector<span class="token operator"><</span>cv<span class="token operator">::</span>KeyPoint<span class="token operator">></span> <span class="token operator">&</span>keypoints<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">// TODO implement this function</span>
<span class="token comment">/**
* compute ORB descriptor
* @param [in] image the input image
* @param [in] keypoints detected keypoints
* @param [out] desc descriptor
*/</span>
<span class="token keyword">typedef</span> vector<span class="token operator"><</span><span class="token keyword">bool</span><span class="token operator">></span> DescType<span class="token punctuation">;</span> <span class="token comment">// type of descriptor, 256 bools</span>
<span class="token keyword">void</span> <span class="token function">computeORBDesc</span><span class="token punctuation">(</span><span class="token keyword">const</span> cv<span class="token operator">::</span>Mat <span class="token operator">&</span>image<span class="token punctuation">,</span> vector<span class="token operator"><</span>cv<span class="token operator">::</span>KeyPoint<span class="token operator">></span> <span class="token operator">&</span>keypoints<span class="token punctuation">,</span> vector<span class="token operator"><</span>DescType<span class="token operator">></span> <span class="token operator">&</span>desc<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token comment">// TODO implement this function</span>
<span class="token comment">/**
* brute-force match two sets of descriptors
* @param desc1 the first descriptor
* @param desc2 the second descriptor
* @param matches matches of two images
*/</span>
<span class="token keyword">void</span> <span class="token function">bfMatch</span><span class="token punctuation">(</span><span class="token keyword">const</span> vector<span class="token operator"><</span>DescType<span class="token operator">></span> <span class="token operator">&</span>desc1<span class="token punctuation">,</span> <span class="token keyword">const</span> vector<span class="token operator"><</span>DescType<span class="token operator">></span> <span class="token operator">&</span>desc2<span class="token punctuation">,</span> vector<span class="token operator"><</span>cv<span class="token operator">::</span>DMatch<span class="token operator">></span> <span class="token operator">&</span>matches<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token keyword">int</span> <span class="token function">main</span><span class="token punctuation">(</span><span class="token keyword">int</span> argc<span class="token punctuation">,</span> <span class="token keyword">char</span> <span class="token operator">*</span><span class="token operator">*</span>argv<span class="token punctuation">)</span> <span class="token punctuation">{</span>
std<span class="token operator">::</span>string pattern_jpg <span class="token operator">=</span><span class="token string">"./kitti_Image/Kitti_image_2/*.png"</span><span class="token punctuation">;</span>
std<span class="token operator">::</span>vector<span class="token operator"><</span>cv<span class="token operator">::</span>String<span class="token operator">></span> image_files<span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">glob</span><span class="token punctuation">(</span>pattern_jpg<span class="token punctuation">,</span> image_files<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token keyword">for</span> <span class="token punctuation">(</span><span class="token keyword">unsigned</span> <span class="token keyword">int</span> frame <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span> frame <span class="token operator"><</span> image_files<span class="token punctuation">.</span><span class="token function">size</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span> <span class="token operator">++</span>frame<span class="token punctuation">)</span> <span class="token punctuation">{</span><span class="token comment">//image_file.size()代表文件中总共的图片个数</span>
<span class="token operator">/</span><span class="token operator">/</span><span class="token function">imshow</span><span class="token punctuation">(</span><span class="token string">"1"</span><span class="token punctuation">,</span> image<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span><span class="token function">imshow</span><span class="token punctuation">(</span><span class="token string">"2"</span><span class="token punctuation">,</span> image1<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span><span class="token function">waitKey</span><span class="token punctuation">(</span><span class="token number">30</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> load image
cv<span class="token operator">::</span>Mat first_image <span class="token operator">=</span> cv<span class="token operator">::</span><span class="token function">imread</span><span class="token punctuation">(</span>image_files<span class="token punctuation">[</span>frame<span class="token punctuation">]</span><span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span> <span class="token operator">/</span><span class="token operator">/</span> load grayscale image
cv<span class="token operator">::</span>Mat second_image <span class="token operator">=</span> cv<span class="token operator">::</span><span class="token function">imread</span><span class="token punctuation">(</span>image_files<span class="token punctuation">[</span>frame<span class="token operator">+</span><span class="token number">1</span><span class="token punctuation">]</span><span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span> <span class="token operator">/</span><span class="token operator">/</span> load grayscale image
<span class="token operator">/</span><span class="token operator">/</span> plot the image
<span class="token operator">/</span><span class="token operator">/</span>cv<span class="token operator">::</span><span class="token function">imshow</span><span class="token punctuation">(</span><span class="token string">"first image"</span><span class="token punctuation">,</span> first_image<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span>cv<span class="token operator">::</span><span class="token function">imshow</span><span class="token punctuation">(</span><span class="token string">"second image"</span><span class="token punctuation">,</span> second_image<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span>cv<span class="token operator">::</span><span class="token function">waitKey</span><span class="token punctuation">(</span><span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> detect FAST keypoints <span class="token keyword">using</span> threshold<span class="token operator">=</span><span class="token number">40</span>
vector<span class="token operator"><</span>cv<span class="token operator">::</span>KeyPoint<span class="token operator">></span> keypoints<span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">FAST</span><span class="token punctuation">(</span>first_image<span class="token punctuation">,</span> keypoints<span class="token punctuation">,</span> <span class="token number">40</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
cout <span class="token operator"><<</span> <span class="token string">"keypoints: "</span> <span class="token operator"><<</span> keypoints<span class="token punctuation">.</span><span class="token function">size</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> compute angle <span class="token keyword">for</span> each keypoint
<span class="token function">computeAngle</span><span class="token punctuation">(</span>first_image<span class="token punctuation">,</span> keypoints<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> compute ORB descriptors
vector<span class="token operator"><</span>DescType<span class="token operator">></span> descriptors<span class="token punctuation">;</span>
<span class="token function">computeORBDesc</span><span class="token punctuation">(</span>first_image<span class="token punctuation">,</span> keypoints<span class="token punctuation">,</span> descriptors<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> plot the keypoints
cv<span class="token operator">::</span>Mat image_show<span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">drawKeypoints</span><span class="token punctuation">(</span>first_image<span class="token punctuation">,</span> keypoints<span class="token punctuation">,</span> image_show<span class="token punctuation">,</span> cv<span class="token operator">::</span>Scalar<span class="token operator">::</span><span class="token function">all</span><span class="token punctuation">(</span><span class="token operator">-</span><span class="token number">1</span><span class="token punctuation">)</span><span class="token punctuation">,</span>
cv<span class="token operator">::</span>DrawMatchesFlags<span class="token operator">::</span>DRAW_RICH_KEYPOINTS<span class="token punctuation">)</span><span class="token punctuation">;</span>
string a<span class="token operator">=</span><span class="token string">"feature"</span><span class="token punctuation">;</span>
string b<span class="token operator">=</span><span class="token string">".png"</span><span class="token punctuation">;</span>
stringstream ss<span class="token punctuation">;</span>
ss<span class="token operator"><<</span>a<span class="token operator"><<</span>frame<span class="token operator"><<</span>b<span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> cv<span class="token operator">::</span><span class="token function">imshow</span><span class="token punctuation">(</span>ss<span class="token punctuation">.</span><span class="token function">str</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">,</span> image_show<span class="token punctuation">)</span><span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">imwrite</span><span class="token punctuation">(</span>ss<span class="token punctuation">.</span><span class="token function">str</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">,</span> image_show<span class="token punctuation">)</span><span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">waitKey</span><span class="token punctuation">(</span><span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> we can also match descriptors between images
<span class="token operator">/</span><span class="token operator">/</span> same <span class="token keyword">for</span> the second
vector<span class="token operator"><</span>cv<span class="token operator">::</span>KeyPoint<span class="token operator">></span> keypoints2<span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">FAST</span><span class="token punctuation">(</span>second_image<span class="token punctuation">,</span> keypoints2<span class="token punctuation">,</span> <span class="token number">40</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
cout <span class="token operator"><<</span> <span class="token string">"keypoints: "</span> <span class="token operator"><<</span> keypoints2<span class="token punctuation">.</span><span class="token function">size</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> compute angle <span class="token keyword">for</span> each keypoint
<span class="token function">computeAngle</span><span class="token punctuation">(</span>second_image<span class="token punctuation">,</span> keypoints2<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> compute ORB descriptors
vector<span class="token operator"><</span>DescType<span class="token operator">></span> descriptors2<span class="token punctuation">;</span>
<span class="token function">computeORBDesc</span><span class="token punctuation">(</span>second_image<span class="token punctuation">,</span> keypoints2<span class="token punctuation">,</span> descriptors2<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> find matches
vector<span class="token operator"><</span>cv<span class="token operator">::</span>DMatch<span class="token operator">></span> matches<span class="token punctuation">;</span>
<span class="token function">bfMatch</span><span class="token punctuation">(</span>descriptors<span class="token punctuation">,</span> descriptors2<span class="token punctuation">,</span> matches<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token keyword">if</span> <span class="token punctuation">(</span>matches<span class="token punctuation">.</span><span class="token function">size</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token operator"><</span><span class="token number">4</span><span class="token punctuation">)</span>
<span class="token punctuation">{</span>
cout<span class="token operator"><<</span><span class="token string">"匹配点过少!"</span><span class="token operator"><<</span>endl<span class="token punctuation">;</span>
<span class="token punctuation">}</span>
cout <span class="token operator"><<</span> <span class="token string">"matches: "</span> <span class="token operator"><<</span> matches<span class="token punctuation">.</span><span class="token function">size</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> plot the matches
cv<span class="token operator">::</span><span class="token function">drawMatches</span><span class="token punctuation">(</span>first_image<span class="token punctuation">,</span> keypoints<span class="token punctuation">,</span> second_image<span class="token punctuation">,</span> keypoints2<span class="token punctuation">,</span> matches<span class="token punctuation">,</span> image_show<span class="token punctuation">)</span><span class="token punctuation">;</span>
string c<span class="token operator">=</span><span class="token string">"matches"</span><span class="token punctuation">;</span>
string d<span class="token operator">=</span><span class="token string">".png"</span><span class="token punctuation">;</span>
stringstream sb<span class="token punctuation">;</span>
sb<span class="token operator"><<</span>c<span class="token operator"><<</span>frame<span class="token operator"><<</span>d<span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">imshow</span><span class="token punctuation">(</span>sb<span class="token punctuation">.</span><span class="token function">str</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">,</span> image_show<span class="token punctuation">)</span><span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">imwrite</span><span class="token punctuation">(</span>sb<span class="token punctuation">.</span><span class="token function">str</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">,</span> image_show<span class="token punctuation">)</span><span class="token punctuation">;</span>
cv<span class="token operator">::</span><span class="token function">waitKey</span><span class="token punctuation">(</span><span class="token number">0</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
cout <span class="token operator"><<</span> <span class="token string">"done."</span> <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
cout<span class="token operator"><<</span>endl<span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token keyword">return</span> <span class="token number">0</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token operator">/</span><span class="token operator">/</span> <span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">/</span><span class="token operator">/</span>
<span class="token operator">/</span><span class="token operator">/</span> compute the angle
<span class="token keyword">void</span> <span class="token function">computeAngle</span><span class="token punctuation">(</span><span class="token keyword">const</span> cv<span class="token operator">::</span>Mat <span class="token operator">&</span>image<span class="token punctuation">,</span> vector<span class="token operator"><</span>cv<span class="token operator">::</span>KeyPoint<span class="token operator">></span> <span class="token operator">&</span>keypoints<span class="token punctuation">)</span> <span class="token punctuation">{</span>
<span class="token keyword">int</span> half_patch_size <span class="token operator">=</span> <span class="token number">8</span><span class="token punctuation">;</span>
<span class="token keyword">for</span> <span class="token punctuation">(</span><span class="token keyword">auto</span> <span class="token operator">&</span>kp <span class="token operator">:</span> keypoints<span class="token punctuation">)</span> <span class="token punctuation">{</span>
<span class="token operator">/</span><span class="token operator">/</span> START YOUR CODE HERE <span class="token punctuation">(</span><span class="token operator">~</span><span class="token number">7</span> lines<span class="token punctuation">)</span>
<span class="token operator">/</span><span class="token operator">/</span> kp<span class="token punctuation">.</span>angle <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span> <span class="token operator">/</span><span class="token operator">/</span> compute kp<span class="token punctuation">.</span>angle
<span class="token keyword">double</span> m10 <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span>
<span class="token keyword">double</span> m01 <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span>
<span class="token keyword">int</span> x <span class="token operator">=</span><span class="token function">cvRound</span><span class="token punctuation">(</span>kp<span class="token punctuation">.</span>pt<span class="token punctuation">.</span>x<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token keyword">int</span> y <span class="token operator">=</span><span class="token function">cvRound</span><span class="token punctuation">(</span>kp<span class="token punctuation">.</span>pt<span class="token punctuation">.</span>y<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token keyword">if</span><span class="token punctuation">(</span>x<span class="token operator">-</span>half_patch_size<span class="token operator"><</span><span class="token number">0</span><span class="token operator">||</span>x<span class="token operator">+</span>half_patch_size<span class="token operator">></span>image<span class="token punctuation">.</span>cols<span class="token operator">||</span>
y<span class="token operator">-</span>half_patch_size<span class="token operator"><</span><span class="token number">0</span><span class="token operator">||</span>y<span class="token operator">+</span>half_patch_size<span class="token operator">></span>image<span class="token punctuation">.</span>rows<span class="token punctuation">)</span>
<span class="token keyword">continue</span><span class="token punctuation">;</span>
<span class="token keyword">for</span><span class="token punctuation">(</span><span class="token keyword">int</span> u <span class="token operator">=</span> x <span class="token operator">-</span> half_patch_size<span class="token punctuation">;</span>u<span class="token operator"><</span>x <span class="token operator">+</span> half_patch_size<span class="token punctuation">;</span><span class="token operator">++</span>u<span class="token punctuation">)</span>
<span class="token punctuation">{</span>
<span class="token keyword">for</span><span class="token punctuation">(</span><span class="token keyword">int</span> v <span class="token operator">=</span> y <span class="token operator">-</span>half_patch_size<span class="token punctuation">;</span>v<span class="token operator"><</span> y <span class="token operator">+</span> half_patch_size<span class="token punctuation">;</span><span class="token operator">++</span>v<span class="token punctuation">)</span>
<span class="token punctuation">{</span>
m10 <span class="token operator">+</span><span class="token operator">=</span> <span class="token punctuation">(</span>u<span class="token operator">-</span>x<span class="token punctuation">)</span><span class="token operator">*</span>image<span class="token punctuation">.</span>at<span class="token operator"><</span>uchar<span class="token operator">></span><span class="token punctuation">(</span>v<span class="token punctuation">,</span>u<span class="token punctuation">)</span><span class="token punctuation">;</span>
m01 <span class="token operator">+</span><span class="token operator">=</span> <span class="token punctuation">(</span>v<span class="token operator">-</span>y<span class="token punctuation">)</span><span class="token operator">*</span>image<span class="token punctuation">.</span>at<span class="token operator"><</span>uchar<span class="token operator">></span><span class="token punctuation">(</span>v<span class="token punctuation">,</span>u<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token punctuation">}</span>
<span class="token keyword">double</span> theta <span class="token operator">=</span> std<span class="token operator">::</span><span class="token function">atan</span><span class="token punctuation">(</span>m01<span class="token operator">/</span>m10<span class="token punctuation">)</span><span class="token punctuation">;</span>
kp<span class="token punctuation">.</span>angle <span class="token operator">=</span> theta <span class="token operator">*</span> <span class="token number">180</span><span class="token operator">/</span>pi<span class="token punctuation">;</span>
cout<span class="token operator"><<</span><span class="token string">"kp.angel:"</span><span class="token operator"><<</span>kp<span class="token punctuation">.</span>angle<span class="token operator"><<</span>endl<span class="token punctuation">;</span>
<span class="token operator">/</span><span class="token operator">/</span> END YOUR CODE HERE
<span class="token punctuation">}</span>
<span class="token keyword">return</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token operator">/</span><span class="token operator">/</span> <span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">--</span><span class="token operator">-</span> <span class="token operator">/</span><span class="token operator">/</span>
<span class="token operator">/</span><span class="token operator">/</span> ORB pattern
<span class="token keyword">int</span> ORB_pattern<span class="token punctuation">[</span><span class="token number">256</span> <span class="token operator">*</span> <span class="token number">4</span><span class="token punctuation">]</span> <span class="token operator">=</span> <span class="token punctuation">{</span>
<span class="token number">8</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">3</span><span class="token punctuation">,</span> <span class="token number">9</span><span class="token punctuation">,</span> <span class="token number">5</span><span class="token comment">/*mean (0), correlation (0)*/</span><span class="token punctuation">,</span>
<span class="token number">4</span><span class="token punctuation">,</span> <span class="token number">2</span><span class="token punctuation">,</span> <span class="token number">7</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">12</span><span class="token comment">/*mean (1.12461e-05), correlation (0.0437584)*/</span><span class="token punctuation">,</span>
<span class="token operator">-</span><span class="token number">11</span><span class="token punctuation">,</span> <span class="token number">9</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">8</span><span class="token punctuation">,</span> <span class="token number">2</span><span class="token comment">/*mean (3.37382e-05), correlation (0.0617409)*/</span><span class="token punctuation">,</span>
<span class="token number">7</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">12</span><span class="token punctuation">,</span> <span class="token number">12</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">13</span><span class="token comment">/*mean (5.62303e-05), correlation (0.0636977)*/</span><span class="token punctuation">,</span>
<span class="token number">2</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">13</span><span class="token punctuation">,</span> <span class="token number">2</span><span class="token punctuation">,</span> <span class="token number">12</span><span class="token comment">/*mean (0.000134953), correlation (0.085099)*/</span><span class="token punctuation">,</span>
<span class="token number">1</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">7</span><span class="token punctuation">,</span> <span class="token number">1</span><span class="token punctuation">,</span> <span class="token number">6</span><span class="token comment">/*mean (0.000528565), correlation (0.0857175)*/</span><span class="token punctuation">,</span>
<span class="token operator">-</span><span class="token number">2</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">10</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">2</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">4</span><span class="token comment">/*mean (0.0188821), correlation (0.0985774)*/</span><span class="token punctuation">,</span>
<span class="token operator">-</span><span class="token number">13</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">13</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">11</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">8</span><span class="token comment">/*mean (0.0363135), correlation (0.0899616)*/</span><span class="token punctuation">,</span>
<span class="token operator">-</span><span class="token number">13</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">3</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">12</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">9</span><span class="token comment">/*mean (0.121806), correlation (0.099849)*/</span><span class="token punctuation">,</span>
<span class="token number">10</span><span class="token punctuation">,</span> <span class="token number">4</span><span class="token punctuation">,</span> <span class="token number">11</span><span class="token punctuation">,</span> <span class="token number">9</span><span class="token comment">/*mean (0.122065), correlation (0.093285)*/</span><span class="token punctuation">,</span>
<span class="token operator">-</span><span class="token number">13</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">8</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">8</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">9</span><span class="token comment">/*mean (0.162787), correlation (0.0942748)*/</span><span class="token punctuation">,</span>
<span class="token operator">-</span><span class="token number">11</span><span class="token punctuation">,</span> <span class="token number">7</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">9</span><span class="token punctuation">,</span> <span class="token number">12</span><span class="token comment">/*mean (0.21561), correlation (0.0974438)*/</span><span class="token punctuation">,</span>
<span class="token number">7</span><span class="token punctuation">,</span> <span class="token number">7</span><span class="token punctuation">,</span> <span class="token number">12</span><span class="token punctuation">,</span> <span class="token number">6</span><span class="token comment">/*mean (0.160583), correlation (0.130064)*/</span><span class="token punctuation">,</span>
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<span class="token operator">-</span><span class="token number">1</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">6</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">1</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">1</span><span class="token comment">/*mean (0.10045), correlation (0.552714)*/</span><span class="token punctuation">,</span>
<span class="token number">9</span><span class="token punctuation">,</span> <span class="token number">5</span><span class="token punctuation">,</span> <span class="token number">11</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">2</span><span class="token comment">/*mean (0.100686), correlation (0.552594)*/</span><span class="token punctuation">,</span>
<span class="token number">11</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">3</span><span class="token punctuation">,</span> <span class="token number">12</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">8</span><span class="token comment">/*mean (0.101091), correlation (0.532394)*/</span><span class="token punctuation">,</span>
<span class="token number">3</span><span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">,</span> <span class="token number">3</span><span class="token punctuation">,</span> <span class="token number">5</span><span class="token comment">/*mean (0.101147), correlation (0.525576)*/</span><span class="token punctuation">,</span>
<span class="token operator">-</span><span class="token number">1</span><span class="token punctuation">,</span> <span class="token number">4</span><span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">,</span> <span class="token number">10</span><span class="token comment">/*mean (0.105263), correlation (0.531498)*/</span><span class="token punctuation">,</span>
<span class="token number">3</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">6</span><span class="token punctuation">,</span> <span class="token number">4</span><span class="token punctuation">,</span> <span class="token number">5</span><span class="token comment">/*mean (0.110785), correlation (0.540491)*/</span><span class="token punctuation">,</span>
<span class="token operator">-</span><span class="token number">13</span><span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">10</span><span class="token punctuation">,</span> <span class="token number">5</span><span class="token comment">/*mean (0.112798), correlation (0.536582)*/</span><span class="token punctuation">,</span>
<span class="token number">5</span><span class="token punctuation">,</span> <span class="token number">8</span><span class="token punctuation">,</span> <span class="token number">12</span><span class="token punctuation">,</span> <span class="token number">11</span><span class="token comment">/*mean (0.114181), correlation (0.555793)*/</span><span class="token punctuation">,</span>
<span class="token number">8</span><span class="token punctuation">,</span> <span class="token number">9</span><span class="token punctuation">,</span> <span class="token number">9</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">6</span><span class="token comment">/*mean (0.117431), correlation (0.553763)*/</span><span class="token punctuation">,</span>
<span class="token number">7</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">4</span><span class="token punctuation">,</span> <span class="token number">8</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">12</span><span class="token comment">/*mean (0.118522), correlation (0.553452)*/</span><span class="token punctuation">,</span>
<span class="token operator">-</span><span class="token number">10</span><span class="token punctuation">,</span> <span class="token number">4</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">10</span><span class="token punctuation">,</span> <span class="token number">9</span><span class="token comment">/*mean (0.12094), correlation (0.554785)*/</span><span class="token punctuation">,</span>
<span class="token number">7</span><span class="token punctuation">,</span> <span class="token number">3</span><span class="token punctuation">,</span> <span class="token number">12</span><span class="token punctuation">,</span> <span class="token number">4</span><span class="token comment">/*mean (0.122582), correlation (0.555825)*/</span><span class="token punctuation">,</span>
<span class="token number">9</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">7</span><span class="token punctuation">,</span> <span class="token number">10</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">2</span><span class="token comment">/*mean (0.124978), correlation (0.549846)*/</span><span class="token punctuation">,</span>
<span class="token number">7</span><span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">,</span> <span class="token number">12</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">2</span><span class="token comment">/*mean (0.127002), correlation (0.537452)*/</span><span class="token punctuation">,</span>
<span class="token operator">-</span><span class="token number">1</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">6</span><span class="token punctuation">,</span> <span class="token number">0</span><span class="token punctuation">,</span> <span class="token operator">-</span><span class="token number">11</span><span class="token comment">/*mean (0.127148), correlation (0.547401)*/</span>
<span class="token punctuation">}</span><span class="token punctuation">;</span>
<span class="token comment">// compute the descriptor</span>
<span class="token keyword">void</span> <span class="token function">computeORBDesc</span><span class="token punctuation">(</span><span class="token keyword">const</span> cv<span class="token operator">::</span>Mat <span class="token operator">&</span>image<span class="token punctuation">,</span> vector<span class="token operator"><</span>cv<span class="token operator">::</span>KeyPoint<span class="token operator">></span> <span class="token operator">&</span>keypoints<span class="token punctuation">,</span> vector<span class="token operator"><</span>DescType<span class="token operator">></span> <span class="token operator">&</span>desc<span class="token punctuation">)</span> <span class="token punctuation">{</span>
<span class="token keyword">for</span> <span class="token punctuation">(</span><span class="token keyword">auto</span> <span class="token operator">&</span>kp<span class="token operator">:</span> keypoints<span class="token punctuation">)</span> <span class="token punctuation">{</span>
DescType <span class="token function">d</span><span class="token punctuation">(</span><span class="token number">256</span><span class="token punctuation">,</span> <span class="token boolean">false</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token keyword">double</span> un_up<span class="token punctuation">,</span>un_vp<span class="token punctuation">,</span>un_uq<span class="token punctuation">,</span>un_vq<span class="token punctuation">;</span> <span class="token comment">// 一对点；</span>
<span class="token keyword">double</span> up<span class="token punctuation">,</span>vp<span class="token punctuation">,</span>uq<span class="token punctuation">,</span>vq<span class="token punctuation">;</span> <span class="token comment">// 旋转后的点；</span>
<span class="token keyword">for</span> <span class="token punctuation">(</span><span class="token keyword">int</span> i <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span> i <span class="token operator"><</span> <span class="token number">256</span><span class="token punctuation">;</span> i<span class="token operator">++</span><span class="token punctuation">)</span> <span class="token punctuation">{</span>
<span class="token comment">// START YOUR CODE HERE (~7 lines)</span>
d<span class="token punctuation">[</span>i<span class="token punctuation">]</span> <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span> <span class="token comment">// if kp goes outside, set d.clear()</span>
un_up <span class="token operator">=</span> ORB_pattern<span class="token punctuation">[</span>i<span class="token operator">*</span><span class="token number">4</span><span class="token punctuation">]</span><span class="token punctuation">;</span>
un_vp <span class="token operator">=</span> ORB_pattern<span class="token punctuation">[</span>i<span class="token operator">*</span><span class="token number">4</span><span class="token operator">+</span><span class="token number">1</span><span class="token punctuation">]</span><span class="token punctuation">;</span>
un_uq <span class="token operator">=</span> ORB_pattern<span class="token punctuation">[</span>i<span class="token operator">*</span><span class="token number">4</span><span class="token operator">+</span><span class="token number">2</span><span class="token punctuation">]</span><span class="token punctuation">;</span>
un_vq <span class="token operator">=</span> ORB_pattern<span class="token punctuation">[</span>i<span class="token operator">*</span><span class="token number">4</span><span class="token operator">+</span><span class="token number">3</span><span class="token punctuation">]</span><span class="token punctuation">;</span> <span class="token comment">// 比较两组点的灰度值大小；</span>
<span class="token comment">// 旋转到主方向上；</span>
<span class="token keyword">double</span> angle <span class="token operator">=</span> kp<span class="token punctuation">.</span>angle <span class="token operator">*</span> <span class="token punctuation">(</span>pi<span class="token operator">/</span><span class="token number">180</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
up <span class="token operator">=</span>kp<span class="token punctuation">.</span>pt<span class="token punctuation">.</span>x<span class="token operator">+</span> <span class="token function">cos</span><span class="token punctuation">(</span>angle<span class="token punctuation">)</span><span class="token operator">*</span>un_up<span class="token operator">-</span><span class="token function">sin</span><span class="token punctuation">(</span>angle<span class="token punctuation">)</span><span class="token operator">*</span>un_vp<span class="token punctuation">;</span>
vp <span class="token operator">=</span>kp<span class="token punctuation">.</span>pt<span class="token punctuation">.</span>y<span class="token operator">+</span> <span class="token function">sin</span><span class="token punctuation">(</span>angle<span class="token punctuation">)</span><span class="token operator">*</span>un_up <span class="token operator">+</span> <span class="token function">cos</span><span class="token punctuation">(</span>angle<span class="token punctuation">)</span><span class="token operator">*</span>un_vp<span class="token punctuation">;</span>
uq <span class="token operator">=</span>kp<span class="token punctuation">.</span>pt<span class="token punctuation">.</span>x<span class="token operator">+</span> <span class="token function">cos</span><span class="token punctuation">(</span>angle<span class="token punctuation">)</span><span class="token operator">*</span>un_uq<span class="token operator">-</span><span class="token function">sin</span><span class="token punctuation">(</span>angle<span class="token punctuation">)</span><span class="token operator">*</span>un_vq<span class="token punctuation">;</span>
vq <span class="token operator">=</span>kp<span class="token punctuation">.</span>pt<span class="token punctuation">.</span>y<span class="token operator">+</span> <span class="token function">sin</span><span class="token punctuation">(</span>angle<span class="token punctuation">)</span><span class="token operator">*</span>un_uq <span class="token operator">+</span> <span class="token function">cos</span><span class="token punctuation">(</span>angle<span class="token punctuation">)</span><span class="token operator">*</span>un_vq<span class="token punctuation">;</span>
<span class="token comment">//边界约束；</span>
<span class="token keyword">if</span><span class="token punctuation">(</span>up<span class="token operator">></span>image<span class="token punctuation">.</span>cols<span class="token operator">||</span>up<span class="token operator"><</span><span class="token number">0</span> <span class="token operator">||</span> vp <span class="token operator"><</span><span class="token number">0</span><span class="token operator">||</span>vp<span class="token operator">></span>image<span class="token punctuation">.</span>rows<span class="token operator">||</span>uq<span class="token operator">></span>image<span class="token punctuation">.</span>cols<span class="token operator">||</span>uq<span class="token operator"><</span><span class="token number">0</span> <span class="token operator">||</span> vq <span class="token operator"><</span><span class="token number">0</span><span class="token operator">||</span>vq<span class="token operator">></span>image<span class="token punctuation">.</span>rows<span class="token punctuation">)</span>
<span class="token punctuation">{</span>
d<span class="token punctuation">.</span><span class="token function">clear</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span><span class="token comment">//超出边界，特征点描述子清零；</span>
<span class="token keyword">break</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token keyword">else</span> <span class="token keyword">if</span><span class="token punctuation">(</span>image<span class="token punctuation">.</span>at<span class="token operator"><</span>uchar<span class="token operator">></span><span class="token punctuation">(</span>vp<span class="token punctuation">,</span>up<span class="token punctuation">)</span><span class="token operator"><</span>image<span class="token punctuation">.</span>at<span class="token operator"><</span>uchar<span class="token operator">></span><span class="token punctuation">(</span>vq<span class="token punctuation">,</span>uq<span class="token punctuation">)</span><span class="token punctuation">)</span>
<span class="token punctuation">{</span>
d<span class="token punctuation">[</span>i<span class="token punctuation">]</span><span class="token operator">=</span><span class="token number">1</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token comment">// END YOUR CODE HERE</span>
<span class="token punctuation">}</span>
desc<span class="token punctuation">.</span><span class="token function">push_back</span><span class="token punctuation">(</span>d<span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token keyword">int</span> bad <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span>
<span class="token keyword">for</span> <span class="token punctuation">(</span><span class="token keyword">auto</span> <span class="token operator">&</span>d<span class="token operator">:</span> desc<span class="token punctuation">)</span> <span class="token punctuation">{</span>
<span class="token keyword">if</span> <span class="token punctuation">(</span>d<span class="token punctuation">.</span><span class="token function">empty</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">)</span> bad<span class="token operator">++</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
cout <span class="token operator"><<</span> <span class="token string">"bad/total: "</span> <span class="token operator"><<</span> bad <span class="token operator"><<</span> <span class="token string">"/"</span> <span class="token operator"><<</span> desc<span class="token punctuation">.</span><span class="token function">size</span><span class="token punctuation">(</span><span class="token punctuation">)</span> <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
<span class="token keyword">return</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token comment">// brute-force matching</span>
<span class="token keyword">void</span> <span class="token function">bfMatch</span><span class="token punctuation">(</span><span class="token keyword">const</span> vector<span class="token operator"><</span>DescType<span class="token operator">></span> <span class="token operator">&</span>desc1<span class="token punctuation">,</span> <span class="token keyword">const</span> vector<span class="token operator"><</span>DescType<span class="token operator">></span> <span class="token operator">&</span>desc2<span class="token punctuation">,</span> vector<span class="token operator"><</span>cv<span class="token operator">::</span>DMatch<span class="token operator">></span> <span class="token operator">&</span>matches<span class="token punctuation">)</span> <span class="token punctuation">{</span>
<span class="token keyword">int</span> d_max <span class="token operator">=</span> <span class="token number">50</span><span class="token punctuation">;</span>
<span class="token keyword">int</span> d <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span>
<span class="token keyword">int</span> queryIdx<span class="token punctuation">,</span>trainIdx<span class="token punctuation">;</span>
<span class="token keyword">int</span> dis<span class="token punctuation">;</span>
<span class="token comment">// START YOUR CODE HERE (~12 lines)</span>
<span class="token comment">// find matches between desc1 and desc2.</span>
<span class="token keyword">for</span><span class="token punctuation">(</span><span class="token keyword">int</span> i <span class="token operator">=</span><span class="token number">0</span><span class="token punctuation">;</span>i<span class="token operator"><</span>desc1<span class="token punctuation">.</span><span class="token function">size</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span><span class="token operator">++</span>i<span class="token punctuation">)</span>
<span class="token punctuation">{</span>
<span class="token keyword">if</span><span class="token punctuation">(</span>desc1<span class="token punctuation">[</span>i<span class="token punctuation">]</span><span class="token punctuation">.</span><span class="token function">empty</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">)</span>
<span class="token keyword">continue</span><span class="token punctuation">;</span>
d<span class="token operator">=</span><span class="token number">0</span><span class="token punctuation">;</span>
dis <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span>
<span class="token keyword">for</span><span class="token punctuation">(</span><span class="token keyword">int</span> j <span class="token operator">=</span><span class="token number">0</span><span class="token punctuation">;</span>j<span class="token operator"><</span>desc2<span class="token punctuation">.</span><span class="token function">size</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">;</span><span class="token operator">++</span>j<span class="token punctuation">)</span>
<span class="token punctuation">{</span>
<span class="token keyword">if</span><span class="token punctuation">(</span>desc2<span class="token punctuation">[</span>j<span class="token punctuation">]</span><span class="token punctuation">.</span><span class="token function">empty</span><span class="token punctuation">(</span><span class="token punctuation">)</span><span class="token punctuation">)</span>
<span class="token keyword">continue</span><span class="token punctuation">;</span>
d<span class="token operator">=</span><span class="token number">0</span><span class="token punctuation">;</span>
<span class="token keyword">for</span><span class="token punctuation">(</span><span class="token keyword">int</span> k <span class="token operator">=</span> <span class="token number">0</span><span class="token punctuation">;</span>k<span class="token operator"><</span><span class="token number">256</span><span class="token punctuation">;</span><span class="token operator">++</span>k<span class="token punctuation">)</span>
<span class="token punctuation">{</span>
<span class="token keyword">if</span><span class="token punctuation">(</span>desc1<span class="token punctuation">[</span>i<span class="token punctuation">]</span><span class="token punctuation">[</span>k<span class="token punctuation">]</span> <span class="token operator">!=</span> desc2<span class="token punctuation">[</span>j<span class="token punctuation">]</span><span class="token punctuation">[</span>k<span class="token punctuation">]</span><span class="token punctuation">)</span>
d <span class="token operator">+</span><span class="token operator">=</span> <span class="token number">1</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token comment">// cout<<"d: "<<d<<endl;</span>
<span class="token keyword">if</span> <span class="token punctuation">(</span>d<span class="token operator"><</span>d_max<span class="token operator">&&</span><span class="token punctuation">(</span>dis<span class="token operator">==</span><span class="token number">0</span><span class="token operator">||</span>d<span class="token operator"><</span>dis<span class="token punctuation">)</span><span class="token punctuation">)</span>
<span class="token punctuation">{</span>
dis <span class="token operator">=</span> d<span class="token punctuation">;</span>
queryIdx <span class="token operator">=</span> i<span class="token punctuation">;</span>
trainIdx <span class="token operator">=</span> j<span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token punctuation">}</span>
<span class="token keyword">if</span><span class="token punctuation">(</span>dis <span class="token operator">!=</span> <span class="token number">0</span><span class="token punctuation">)</span> <span class="token comment">//匹配到了；</span>
<span class="token punctuation">{</span>
matches<span class="token punctuation">.</span><span class="token function">push_back</span><span class="token punctuation">(</span>cv<span class="token operator">::</span><span class="token function">DMatch</span><span class="token punctuation">(</span>queryIdx<span class="token punctuation">,</span>trainIdx<span class="token punctuation">,</span>dis<span class="token punctuation">)</span><span class="token punctuation">)</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token punctuation">}</span>
<span class="token comment">// END YOUR CODE HERE</span>
<span class="token keyword">for</span> <span class="token punctuation">(</span><span class="token keyword">auto</span> <span class="token operator">&</span>m<span class="token operator">:</span> matches<span class="token punctuation">)</span> <span class="token punctuation">{</span>
cout <span class="token operator"><<</span> m<span class="token punctuation">.</span>queryIdx <span class="token operator"><<</span> <span class="token string">", "</span> <span class="token operator"><<</span> m<span class="token punctuation">.</span>trainIdx <span class="token operator"><<</span> <span class="token string">", "</span> <span class="token operator"><<</span> m<span class="token punctuation">.</span>distance <span class="token operator"><<</span> endl<span class="token punctuation">;</span>
<span class="token punctuation">}</span>
<span class="token keyword">return</span><span class="token punctuation">;</span>
<span class="token punctuation">}</span>
</code>
四、运行结果测试
1、程序编译
<code class="prism language-bash has-numbering"> g++ slamORB1.cpp -o slamORB1 <span class="token variable">`pkg-config --cflags --libs opencv`</span> -std<span class="token operator">=</span>c++11 </code>
编译之后，该文件中会生成可执行文件，如下所示：
2、程序运行
<code class="prism language-bash has-numbering"> ./slamORB1 </code>
- 1
运行时间较为长，林君学长只取了前面3张序列的运行结果哦！
3、运行结果
（1）、特征点提取结果 1：
2：
3：
（2）、特征点匹配结果 1：
2：
3：
开心洋葱 , 版权所有丨如未注明 , 均为原创丨未经授权请勿修改 , 转载请注明视觉SLAM学习【2】—–ubuntu16.04基于kitti数据集的SLAM中ORB特征点提取及暴力匹配！
![一起做激光SLAM[二]提取特征点和地面点](http://blog.75271.com/wp-content/themes/com75271/timthumb.php?src=http://images.75271.com/Public/Uploads/2021-04-26/微信图片_20210120154606.gif&h=110&w=185&q=90&zc=1&ct=1)
