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ORB特征原理：

/* *@function ORB_Detect.cpp *@brief 使用ORB特征对目标进行检测和匹配 *@author ltc *@date 14:45 Thursday，December 3rd，2015*/#include
   
    #include
    
     #include
     
      #include
      
       #include
       
        using namespace std;using namespace cv;vector
        
          ransac(vector
         
           queryKeyPoint,vector
          
            trainKeyPoint,vector
           
             matches);int main(int argc,char* argv[]){ Mat queryImage,trainImage; queryImage=imread("4.jpg",IMREAD_COLOR); trainImage=imread("3.jpg",IMREAD_COLOR); ORB orb; vector
            
              queryKeyPoint,trainKeyPoint; Mat queryDescriptor,trainDescriptor; orb(queryImage,Mat(),queryKeyPoint,queryDescriptor); orb(trainImage,Mat(),trainKeyPoint,trainDescriptor); drawKeypoints(queryImage,queryKeyPoint,queryImage); drawKeypoints(trainImage,trainKeyPoint,trainImage); cout<
             
              <
              
                matches; matcher.match(queryDescriptor,trainDescriptor,matches); vector
               
                 ransac_matches; ransac_matches=ransac(queryKeyPoint,trainKeyPoint,matches); Mat image_match;// drawMatches(queryImage,queryKeyPoint,trainImage,trainKeyPoint,matches,image_match); drawMatches(queryImage,queryKeyPoint,trainImage,trainKeyPoint,ransac_matches,image_match); imshow("image_match",image_match); waitKey(0); return 0;}vector
                
                  ransac(vector
                 
                   queryKeyPoint,vector
                  
                    trainKeyPoint,vector
                   
                     matches){ vector
                    
                      ransac_matches; vector
                     
                       queryPoint(matches.size()),trainPoint(matches.size()); for(int i=0;i
                      
                        inlierMask(matches.size()); Mat H=findHomography(queryPoint,trainPoint,RANSAC,3,inlierMask); for(size_t i=0;i