opencv中ORB和ORBSLAM中ORB的区别（未完待续）

SLAM十四讲用一天看完了，顺便花一天看了下ORB,brief,ORB-SLAM2原文，现在开始学习里面具体代码。今天主要看ORB特征提取，放vs中的代码：

#include <iostream>
#include <opencv2/opencv.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <stdio.h>
using namespace cv;
using namespace std;





int main() {

	Mat src = imread("E:\\xxb\\3.jpg");
	//VideoCapture cap(0);
	imshow("原图", src);
	Mat gray_src, outimage;
	cvtColor(src, gray_src, CV_BGR2GRAY);
	std::vector<KeyPoint> keypoints_1;
	Mat descriptors_1;
	Ptr<FeatureDetector> detector = ORB::create();
	Ptr<DescriptorExtractor> descriptor = ORB::create();
	detector->detect(gray_src, keypoints_1);
	descriptor->compute(gray_src, keypoints_1, descriptors_1);
	drawKeypoints(src, keypoints_1, outimage, Scalar::all(-1), DrawMatchesFlags::DEFAULT);
	imshow("opencv提取ORB特征点", outimage);
	while (1)
	{
	if (waitKey(10) == 27)break;//按Esc退出
}
	return 0;

}

当中用debug x64 运行出现报错，原因是工程中debug依赖项添加了opencv_world310.lib

提取结果如图，分布不均匀；这是opencv的结果。

ORB-slam2中首先分块进行