//orb.cpp        #include "stdafx.h"        #include <cv.hpp>        #include <highgui.h>        #include "utils.h"        #include <iostream>        using namespace std;                void orb(char* path1, char* path2, INFO& info, bool show)        {            double t1,t2;            t1=cvGetTickCount();                    initModule_nonfree();            Mat img1, img2;            img1=imread(path1,0);            img2=imread(path2,0);            if(img1.data==NULL)            {                cout<<"The image can not been loaded: "<<path1<<endl;                system("pause");                exit(-1);            }            if(img2.data==NULL)            {                cout<<"The image can not been loaded: "<<path2<<endl;                system("pause");                exit(-1);            }                    Ptr<OrbFeatureDetector> orb_detector;            Ptr<DescriptorExtractor> orb_descriptor;            vector<KeyPoint> kpts1_orb, kpts2_orb;            Mat desc1_orb, desc2_orb;            Ptr<cv::DescriptorMatcher> matcher_l1 = DescriptorMatcher::create("BruteForce-Hamming");      //二进制汉明距离匹配            vector<Point2f> matches_orb, inliers_orb;            vector<vector<DMatch> > dmatches_orb;                    orb_detector = new cv::OrbFeatureDetector(ORB_MAX_KPTS,ORB_SCALE_FACTOR,ORB_PYRAMID_LEVELS,                                                    ORB_EDGE_THRESHOLD,ORB_FIRST_PYRAMID_LEVEL,ORB_WTA_K,ORB_PATCH_SIZE);            orb_descriptor = new cv::OrbDescriptorExtractor();            orb_detector->detect(img1,kpts1_orb);            orb_detector->detect(img2,kpts2_orb);            info.n1 = kpts1_orb.size();            info.n2 = kpts2_orb.size();                    orb_descriptor->compute(img1,kpts1_orb,desc1_orb);            orb_descriptor->compute(img2,kpts2_orb,desc2_orb);            matcher_l1->knnMatch(desc1_orb,desc2_orb,dmatches_orb,2);            matches2points_nndr(kpts1_orb,kpts2_orb,dmatches_orb,matches_orb,DRATIO);            info.m=matches_orb.size()/2;            compute_inliers_ransac(matches_orb,inliers_orb,MIN_H_ERROR,false);            info.rm=inliers_orb.size()/2;                    t2=cvGetTickCount();            info.t=(t2-t1)/1000000.0/cvGetTickFrequency();                    Mat img1_rgb_orb = imread(path1,1);            Mat img2_rgb_orb = imread(path2,1);            Mat img_com_orb = Mat(Size(img1.cols*2,img1.rows),CV_8UC3);                    if(show == true)            {                draw_inliers(img1_rgb_orb,img2_rgb_orb,img_com_orb,inliers_orb,2);                imshow("orb",img_com_orb);                waitKey(0);            }                    return;        }  

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