//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);