ORB-Features_Matches

Python bindings(and C++ code) for C++ implementation of ORB-Feature Extractor and ORB-Matcher, as implemented in ORB-SLAM2

Steps for Python:

To make orb_extractor

cd orb_extractor

Set corresponding numpy path for numpy in CMakeLists.txt line 13

mkdir build
python3 gen2.py pyorb build headers.txt
cmake .

Go to build/pyorb_generated_include.h. Change #include "src/ORB.hpp" to #include "../src/ORB.hpp"

make .

Copy orb.so to parent folder.

To make orb_matcher

Please follow the same steps for orb_extractor. Change python3 gen2.py pyorb build headers.txt to python3 gen2.py pyorb_matcher build headers.txt

Copy orb_matcher.so to parent folder.

How to use:

import orb
import orb_matcher
OE = orb.orb_ORBextractor(2048,1.2,8,20,5)
kps,desc = OE.extract_orb_fts(im, None)

EM = orb_matcher.orb_matcher_ORBmatcher(float_val)
no_of_matches,matches = EM.find_matches(kp1,kp2,desc1,desc2,windowsize)

To compile for C++

Example runner.cpp code.

cmake .
make
./Example

Acknowledgements.

The C++ code has mostly been borrowed from ORB-SLAM2, in specific the ORBextractor.cc and ORBmatcher.cc with a few tiny changes (removed the concept of frames).

The code to create python bindings is from learnopencv.com. The g++ compilation code has been written equivalently in cmake. (to the best of my knowledge).

Notes

This is a novice implementation, and can certainly be improved massively.
For some reason, the orb_matcher object has to be created everytime we wish to find matches. It gives wrong results otherwise. Need to investigate.
Will try to combine the two into a single module, which will be certainly easier to handle.
I'm not sure how to return cv::keypoints directly to Python, hence currently they're being converted to cv::Mat and returned as np array.

ShrutheeshIR/ORB-Features_Matches