#include "DBoW3/DBoW3.h" //使用了BOW这个库
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <iostream>
#include <vector>
#include <string>
using namespace cv;
using namespace std;
int main( int argc, char** argv )
{
// read the image
cout<<"reading images... "<<endl;
vector<Mat> images;
for ( int i=0; i<10; i++ )//这里选取了10张图片
{
string path = "/home/hansry/Slam_Book/src/Feature_traning/data/"+to_string(i+1)+".png";
images.push_back( imread(path) );
}
// detect ORB features
cout<<"detecting ORB features ... "<<endl;
Ptr< Feature2D > detector = ORB::create("FAST");//由于这里用的是opencv2，所以略有不同
vector<Mat> descriptors;
for ( Mat& image:images )
{
vector<KeyPoint> keypoints;
Mat descriptor;
ORB orb;
orb( image, Mat(), keypoints, descriptor );
descriptors.push_back( descriptor );
}
// create vocabulary
cout<<"creating vocabulary ... "<<endl;
DBoW3::Vocabulary vocab;
vocab.create( descriptors );
cout<<"vocabulary info: "<<vocab<<endl;
vocab.save( "vocabulary.yml.gz" );
cout<<"done"<<endl;
return 0;
}
cmake_minimum_required(VERSION 2.8.3)
project(Feature_traning)
set(CMAKE_CXX_FLAGS "-std=c++11 -O3")
find_package(OpenCV REQUIRED ) //这里有点不同，把原版的cmakelist代码里的opencv 3.1改为 2.4（我用的2.4，高博用的3.1.。。。）
set( DBoW3_INCLUDE_DIRS "/usr/local/include" )
set( DBoW3_LIBS "/usr/local/lib/libDBoW3.so" ) //这里，还有个问题，就是在编译DBoW库的时候，cmake ..后需要“sudo make install” 切记！！！
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES test
# CATKIN_DEPENDS opencv roscpp
# DEPENDS system_lib
)
include_directories(include)
include_directories(
${catkin_INCLUDE_DIRS}
${OpenCV_INCLUDE_DIRS}
)
add_executable(Feature_traning src/Feature_traning.cpp)
target_link_libraries(Feature_traning
${catkin_LIBRARIES}
${OpenCV_LIBRARIES}
${DBoW3_LIBS}
)
多说一句，建议换用原版cmakelist 这个感觉是网友自己写的额#、#
其余的就没啥了。无错误，流下感动热泪！
附上我遇到的坑
1.
2.
3.
然后，新世界 ...
就是接么豪横 接么局气！