//
//?Created?by?高翔?on?2017/12/19.
//?本程序演示ORB是如何提取、計(jì)算和匹配的
//

#include?
#include?
#include?
#include?
#include?
//#include?
//#include?

#include?

#include?

using?namespace?std;
using?namespace?cv;

//?global?variables
string?first_file?=?“1.png“;
string?second_file?=?“2.png“;
typedef?vector?DescType;
vector?good_keypoints1;
vector?good_desc;
vector?good_keypoints2;
vector?good_desc2;

const?double?pi?=?3.1415926;????//?pi
void?computeAngle（const?cv::Mat?&image?vector?&keypointsvector?&good_points）;
typedef?vector?DescType;??//?type?of?descriptor?256?bools
void?computeORBDesc（const?cv::Mat?&image?vector?&keypoints?vector?&descvector?&out_keypointsvector?&out_desc）;

void?bfMatch（const?vector?&desc1?const?vector?&desc2?vector?&matches）;
int?get_distance（const?DescType?&desc_1?const?DescType?&desc_2）;
void?bfMatch（const?vector?&desc1?const?vector?&desc2?vector?&matches）;
int?get_distance（const?DescType?&desc_1?const?DescType?&desc_2）;

vector?good_points1;
vector?good_points2;
int?main（int?argc?char?**argv）?{

????//?load?image
????cv::Mat?first_image?=?cv::imread（first_file?0）;????//?load?grayscale?image
????cv::Mat?second_image?=?cv::imread（second_file?0）;??//?load?grayscale?image
	
????//?detect?FAST?keypoints?using?threshold=40
????vector?keypoints;
????cv::FAST（first_image?keypoints?40）;
????cout?<????//?compute?angle?for?each?keypoint
????computeAngle（first_image?keypointsgood_points1）;//
	cout?<	cout?<	vector?descriptors1;
	computeORBDesc（first_image?good_points1?descriptors1good_keypoints1good_desc）;
	cout?<riptor1?=?“?<

	?vector?keypoints2;
????cv::FAST（second_image?keypoints2?40）;
????cout?<????//?compute?angle?for?each?keypoint
????computeAngle（second_image?keypoints2good_points2）;//
	cout?<	cout?<	vector?descriptors2;
	computeORBDesc（second_image?good_points2?descriptors2good_keypoints2good_desc2）;
	cout?<riptor2?=?“?<	vector?matches;
	bfMatch（good_desc?good_desc2?matches）;
	cout?<

	Mat?img_mathes;
	//for?（int?i?=?0?;?i	//{
	//	cout?<	//	c