2021SC@SDUSC
1.ORBextractor特征提取与描述
在ORBextractor中包括定义的两个类
- ExtractorNode
- ORBextractor
在ExtractorNode中，维护的是四叉树的数据结构，后面在关键点均匀化时，会用到其中的DvideNode函数。
具体可见这三篇博客：
ORBextractor.cc 代码原理分析
认真的虎ORBSLAM2源码解读(四)：图解ORB特征提取ORBextractor
高斯图像金字塔
2.代码分析
这个函数用于计算特征点的方向，这里是返回角度作为方向。
计算特征点方向是为了使得提取的特征点具有旋转不变性。
方法是灰度质心法：以几何中心和灰度质心的连线作为该特征点方向
static float IC_Angle(const Mat& image, Point2f pt, const vector<int> & u_max)
{
//图像的矩，前者是按照图像块的y坐标加权，后者是按照图像块的x坐标加权
int m_01 = 0, m_10 = 0;
//获得这个特征点所在的图像块的中心点坐标灰度值的指针center
const uchar* center = &image.at<uchar> (cvRound(pt.y), cvRound(pt.x));
// Treat the center line differently, v=0
//这条v=0中心线的计算需要特殊对待
//由于是中心行+若干行对，所以PATCH_SIZE应该是个奇数
for (int u = -HALF_PATCH_SIZE; u <= HALF_PATCH_SIZE; ++u)
//注意这里的center下标u可以是负的！中心水平线上的像素按x坐标（也就是u坐标）加权
m_10 += u * center[u];
// Go line by line in the circular patch
//这里的step1表示这个图像一行包含的字节总数。参考[https://blog.csdn.net/qianqing13579/article/details/45318279]
int step = (int)image.step1();
//注意这里是以v=0中心线为对称轴，然后对称地每成对的两行之间进行遍历，这样处理加快了计算速度
for (int v = 1; v <= HALF_PATCH_SIZE; ++v)
{
// Proceed over the two lines
//本来m_01应该是一列一列地计算的，但是由于对称以及坐标x,y正负的原因，可以一次计算两行
int v_sum = 0;
// 获取某行像素横坐标的最大范围，注意这里的图像块是圆形的！
int d = u_max[v];
//在坐标范围内挨个像素遍历，实际是一次遍历2个
// 假设每次处理的两个点坐标，中心线下方为(x,y),中心线上方为(x,-y)
// 对于某次待处理的两个点：m_10 = Σ x*I(x,y) = x*I(x,y) + x*I(x,-y) = x*(I(x,y) + I(x,-y))
// 对于某次待处理的两个点：m_01 = Σ y*I(x,y) = y*I(x,y) - y*I(x,-y) = y*(I(x,y) - I(x,-y))
for (int u = -d; u <= d; ++u)
{
//得到需要进行加运算和减运算的像素灰度值
//val_plus：在中心线下方x=u时的的像素灰度值
//val_minus：在中心线上方x=u时的像素灰度值
int val_plus = center[u + v*step], val_minus = center[u - v*step];
//在v（y轴）上，2行所有像素灰度值之差
v_sum += (val_plus - val_minus);
//u轴（也就是x轴）方向上用u坐标加权和（u坐标也有正负符号），相当于同时计算两行
m_10 += u * (val_plus + val_minus);
}
//将这一行上的和按照y坐标加权
m_01 += v * v_sum;
}
//为了加快速度还使用了fastAtan2()函数，输出为[0,360)角度，精度为0.3°
return fastAtan2((float)m_01, (float)m_10);
}
乘数因子，一度对应着多少弧度
const float factorPI = (float)(CV_PI/180.f);
计算ORB特征点的描述子。注意这个是全局的静态函数，只能是在本文件内被调用
static void computeOrbDescriptor(const KeyPoint& kpt,
const Mat& img, const Point* pattern,
uchar* desc)
{
//得到特征点的角度，用弧度制表示。kpt.angle是角度制，范围为[0,360)度
float angle = (float)kpt.angle*factorPI;
//然后计算这个角度的余弦值和正弦值
float a = (float)cos(angle), b = (float)sin(angle);
//获得图像中心指针
const uchar* center = &img.at<uchar>(cvRound(kpt.pt.y), cvRound(kpt.pt.x));
//获得图像的每行的字节数
const int step = (int)img.step;
//原始的BRIEF描述子不具有方向信息，通过加入特征点的方向来计算描述子，称之为Steer BRIEF，具有较好旋转不变特性
//具体地，在计算的时候需要将这里选取的随机点点集的x轴方向旋转到特征点的方向。
//获得随机“相对点集”中某个idx所对应的点的灰度,这里旋转前坐标为(x,y), 旋转后坐标(x',y')推导:
// x'= xcos(θ) - ysin(θ), y'= xsin(θ) + ycos(θ)
#define GET_VALUE(idx) center[cvRound(pattern[idx].x*b + pattern[idx].y*a)*step + cvRound(pattern[idx].x*a - pattern[idx].y*b)]
// y'* step
// x'
//brief描述子由32*8位组成
//其中每一位是来自于两个像素点灰度的直接比较，所以每比较出8bit结果，需要16个随机点，这也就是为什么pattern需要+=16的原因
for (int i = 0; i < 32; ++i, pattern += 16)
{
int t0, //参与比较的一个特征点的灰度值
t1, //参与比较的另一个特征点的灰度值
val; //描述子这个字节的比较结果
t0 = GET_VALUE(0); t1 = GET_VALUE(1);
val = t0 < t1; //描述子本字节的bit0
t0 = GET_VALUE(2); t1 = GET_VALUE(3);
val |= (t0 < t1) << 1; //描述子本字节的bit1
t0 = GET_VALUE(4); t1 = GET_VALUE(5);
val |= (t0 < t1) << 2; //描述子本字节的bit2
t0 = GET_VALUE(6); t1 = GET_VALUE(7);
val |= (t0 < t1) << 3; //描述子本字节的bit3
t0 = GET_VALUE(8); t1 = GET_VALUE(9);
val |= (t0 < t1) << 4; //描述子本字节的bit4
t0 = GET_VALUE(10); t1 = GET_VALUE(11);
val |= (t0 < t1) << 5; //描述子本字节的bit5
t0 = GET_VALUE(12); t1 = GET_VALUE(13);
val |= (t0 < t1) << 6; //描述子本字节的bit6
t0 = GET_VALUE(14); t1 = GET_VALUE(15);
val |= (t0 < t1) << 7; //描述子本字节的bit7
//保存当前比较的出来的描述子的这个字节
desc[i] = (uchar)val;
}//通过对随机点像素灰度的比较，得出BRIEF描述子，一共是32*8=256位
//为了避免和程序中的其他部分冲突在，在使用完成之后就取消这个宏定义
#undef GET_VALUE
}
下面就是预先定义好的随机点集，256是指可以提取出256bit的描述子信息，每个bit由一对点比较得来；4=2*2，前面的2是需要两个点（一对点）进行比较，后面的2是一个点有两个坐标
static int bit_pattern_31_[256*4] =
{
8,-3, 9,5/*mean (0), correlation (0)*/,
4,2, 7,-12/*mean (1.12461e-05), correlation (0.0437584)*/,
-11,9, -8,2/*mean (3.37382e-05), correlation (0.0617409)*/,
7,-12, 12,-13/*mean (5.62303e-05), correlation (0.0636977)*/,
2,-13, 2,12/*mean (0.000134953), correlation (0.085099)*/,
1,-7, 1,6/*mean (0.000528565), correlation (0.0857175)*/,
-2,-10, -2,-4/*mean (0.0188821), correlation (0.0985774)*/,
-13,-13, -11,-8/*mean (0.0363135), correlation (0.0899616)*/,
-13,-3, -12,-9/*mean (0.121806), correlation (0.099849)*/,
10,4, 11,9/*mean (0.122065), correlation (0.093285)*/,
-13,-8, -8,-9/*mean (0.162787), correlation (0.0942748)*/,
-11,7, -9,12/*mean (0.21561), correlation (0.0974438)*/,
7,7, 12,6/*mean (0.160583), correlation (0.130064)*/,
-4,-5, -3,0/*mean (0.228171), correlation (0.132998)*/,
-13,2, -12,-3/*mean (0.00997526), correlation (0.145926)*/,
-9,0, -7,5/*mean (0.198234), correlation (0.143636)*/,
12,-6, 12,-1/*mean (0.0676226), correlation (0.16689)*/,
-3,6, -2,12/*mean (0.166847), correlation (0.171682)*/,
-6,-13, -4,-8/*mean (0.101215), correlation (0.179716)*/,
11,-13, 12,-8/*mean (0.200641), correlation (0.192279)*/,
4,7, 5,1/*mean (0.205106), correlation (0.186848)*/,
5,-3, 10,-3/*mean (0.234908), correlation (0.192319)*/,
3,-7, 6,12/*mean (0.0709964), correlation (0.210872)*/,
-8,-7, -6,-2/*mean (0.0939834), correlation (0.212589)*/,
-2,11, -1,-10/*mean (0.127778), correlation (0.20866)*/,
-13,12, -8,10/*mean (0.14783), correlation (0.206356)*/,
-7,3, -5,-3/*mean (0.182141), correlation (0.198942)*/,
-4,2, -3,7/*mean (0.188237), correlation (0.21384)*/,
-10,-12, -6,11/*mean (0.14865), correlation (0.23571)*/,
5,-12, 6,-7/*mean (0.222312), correlation (0.23324)*/,
5,-6, 7,-1/*mean (0.229082), correlation (0.23389)*/,
1,0, 4,-5/*mean (0.241577), correlation (0.215286)*/,
9,11, 11,-13/*mean (0.00338507), correlation (0.251373)*/,
4,7, 4,12/*mean (0.131005), correlation (0.257622)*/,
2,-1, 4,4/*mean (0.152755), correlation (0.255205)*/,
-4,-12, -2,7/*mean (0.182771), correlation (0.244867)*/,
-8,-5, -7,-10/*mean (0.186898), correlation (0.23901)*/,
4,11, 9,12/*mean (0.226226), correlation (0.258255)*/,
0,-8, 1,-13/*mean (0.0897886), correlation (0.274827)*/,
-13,-2, -8,2/*mean (0.148774), correlation (0.28065)*/,
-3,-2, -2,3/*mean (0.153048), correlation (0.283063)*/,
-6,9, -4,-9/*mean (0.169523), correlation (0.278248)*/,
8,12, 10,7/*mean (0.225337), correlation (0.282851)*/,
0,9, 1,3/*mean (0.226687), correlation (0.278734)*/,
7,-5, 11,-10/*mean (0.00693882), correlation (0.305161)*/,
-13,-6, -11,0/*mean (0.0227283), correlation (0.300181)*/,
10,7, 12,1/*mean (0.125517), correlation (0.31089)*/,
-6,-3, -6,12/*mean (0.131748), correlation (0.312779)*/,
10,-9, 12,-4/*mean (0.144827), correlation (0.292797)*/,
-13,8, -8,-12/*mean (0.149202), correlation (0.308918)*/,
-13,0, -8,-4/*mean (0.160909), correlation (0.310013)*/,
3,3, 7,8/*mean (0.177755), correlation (0.309394)*/,
5,7, 10,-7/*mean (0.212337), correlation (0.310315)*/,
-1,7, 1,-12/*mean (0.214429), correlation (0.311933)*/,
3,-10, 5,6/*mean (0.235807), correlation (0.313104)*/,
2,-4, 3,-10/*mean (0.00494827), correlation (0.344948)*/,
-13,0, -13,5/*mean (0.0549145), correlation (0.344675)*/,
-13,-7, -12,12/*mean (0.103385), correlation (0.342715)*/,
-13,3, -11,8/*mean (0.134222), correlation (0.322922)*/,
-7,12, -4,7/*mean (0.153284), correlation (0.337061)*/,
6,-10, 12,8/*mean (0.154881), correlation (0.329257)*/,
-9,-1, -7,-6/*mean (0.200967), correlation (0.33312)*/,
-2,-5, 0,12/*mean (0.201518), correlation (0.340635)*/,
-12,5, -7,5/*mean (0.207805), correlation (0.335631)*/,
3,-10, 8,-13/*mean (0.224438), correlation (0.34504)*/,
-7,-7, -4,5/*mean (0.239361), correlation (0.338053)*/,
-3,-2, -1,-7/*mean (0.240744), correlation (0.344322)*/,
2,9, 5,-11/*mean (0.242949), correlation (0.34145)*/,
-11,-13, -5,-13/*mean (0.244028), correlation (0.336861)*/,
-1,6, 0,-1/*mean (0.247571), correlation (0.343684)*/,
5,-3, 5,2/*mean (0.000697256), correlation (0.357265)*/,
-4,-13, -4,12/*mean (0.00213675), correlation (0.373827)*/,
-9,-6, -9,6/*mean (0.0126856), correlation (0.373938)*/,
-12,-10, -8,-4/*mean (0.0152497), correlation (0.364237)*/,
10,2, 12,-3/*mean (0.0299933), correlation (0.345292)*/,
7,12, 12,12/*mean (0.0307242), correlation (0.366299)*/,
-7,-13, -6,5/*mean (0.0534975), correlation (0.368357)*/,
-4,9, -3,4/*mean (0.099865), correlation (0.372276)*/,
7,-1, 12,2/*mean (0.117083), correlation (0.364529)*/,
-7,6, -5,1/*mean (0.126125), correlation (0.369606)*/,
-13,11, -12,5/*mean (0.130364), correlation (0.358502)*/,
-3,7, -2,-6/*mean (0.131691), correlation (0.375531)*/,
7,-8, 12,-7/*mean (0.160166), correlation (0.379508)*/,
-13,-7, -11,-12/*mean (0.167848), correlation (0.353343)*/,
1,-3, 12,12/*mean (0.183378), correlation (0.371916)*/,
2,-6, 3,0/*mean (0.228711), correlation (0.371761)*/,
-4,3, -2,-13/*mean (0.247211), correlation (0.364063)*/,
-1,-13, 1,9/*mean (0.249325), correlation (0.378139)*/,
7,1, 8,-6/*mean (0.000652272), correlation (0.411682)*/,
1,-1, 3,12/*mean (0.00248538), correlation (0.392988)*/,
9,1, 12,6/*mean (0.0206815), correlation (0.386106)*/,
-1,-9, -1,3/*mean (0.0364485), correlation (0.410752)*/,
-13,-13, -10,5/*mean (0.0376068), correlation (0.398374)*/,
7,7, 10,12/*mean (0.0424202), correlation (0.405663)*/,
12,-5, 12,9/*mean (0.0942645), correlation (0.410422)*/,
6,3, 7,11/*mean (0.1074), correlation (0.413224)*/,
5,-13, 6,10/*mean (0.109256), correlation (0.408646)*/,
2,-12, 2,3/*mean (0.131691), correlation (0.416076)*/,
3,8, 4,-6/*mean (0.165081), correlation (0.417569)*/,
2,6, 12,-13/*mean (0.171874), correlation (0.408471)*/,
9,-12, 10,3/*mean (0.175146), correlation (0.41296)*/,
-8,4, -7,9/*mean (0.183682), correlation (0.402956)*/,
-11,12, -4,-6/*mean (0.184672), correlation (0.416125)*/,
1,12, 2,-8/*mean (0.191487), correlation (0.386696)*/,
6,-9, 7,-4/*mean (0.192668), correlation (0.394771)*/,
2,3, 3,-2/*mean (0.200157), correlation (0.408303)*/,
6,3, 11,0/*mean (0.204588), correlation (0.411762)*/,
3,-3, 8,-8/*mean (0.205904), correlation (0.416294)*/,
7,8, 9,3/*mean (0.213237), correlation (0.409306)*/,
-11,-5, -6,-4/*mean (0.243444), correlation (0.395069)*/,
-10,11, -5,10/*mean (0.247672), correlation (0.413392)*/,
-5,-8, -3,12/*mean (0.24774), correlation (0.411416)*/,
-10,5, -9,0/*mean (0.00213675), correlation (0.454003)*/,
8,-1, 12,-6/*mean (0.0293635), correlation (0.455368)*/,
4,-6, 6,-11/*mean (0.0404971), correlation (0.457393)*/,
-10,12, -8,7/*mean (0.0481107), correlation (0.448364)*/,
4,-2, 6,7/*mean (0.050641), correlation (0.455019)*/,
-2,0, -2,12/*mean (0.0525978), correlation (0.44338)*/,
-5,-8, -5,2/*mean (0.0629667), correlation (0.457096)*/,
7,-6, 10,12/*mean (0.0653846), correlation (0.445623)*/,
-9,-13, -8,-8/*mean (0.0858749), correlation (0.449789)*/,
-5,-13, -5,-2/*mean (0.122402), correlation (0.450201)*/,
8,-8, 9,-13/*mean (0.125416), correlation (0.453224)*/,
-9,-11, -9,0/*mean (0.130128), correlation (0.458724)*/,
1,-8, 1,-2/*mean (0.132467), correlation (0.440133)*/,
7,-4, 9,1/*mean (0.132692), correlation (0.454)*/,
-2,1, -1,-4/*mean (0.135695), correlation (0.455739)*/,
11,-6, 12,-11/*mean (0.142904), correlation (0.446114)*/,
-12,-9, -6,4/*mean (0.146165), correlation (0.451473)*/,
3,7, 7,12/*mean (0.147627), correlation (0.456643)*/,
5,5, 10,8/*mean (0.152901), correlation (0.455036)*/,
0,-4, 2,8/*mean (0.167083), correlation (0.459315)*/,
-9,12, -5,-13/*mean (0.173234), correlation (0.454706)*/,
0,7, 2,12/*mean (0.18312), correlation (0.433855)*/,
-1,2, 1,7/*mean (0.185504), correlation (0.443838)*/,
5,11, 7,-9/*mean (0.185706), correlation (0.451123)*/,
3,5, 6,-8/*mean (0.188968), correlation (0.455808)*/,
-13,-4, -8,9/*mean (0.191667), correlation (0.459128)*/,
-5,9, -3,-3/*mean (0.193196), correlation (0.458364)*/,
-4,-7, -3,-12/*mean (0.196536), correlation (0.455782)*/,
6,5, 8,0/*mean (0.1972), correlation (0.450481)*/,
-7,6, -6,12/*mean (0.199438), correlation (0.458156)*/,
-13,6, -5,-2/*mean (0.211224), correlation (0.449548)*/,
1,-10, 3,10/*mean (0.211718), correlation (0.440606)*/,
4,1, 8,-4/*mean (0.213034), correlation (0.443177)*/,
-2,-2, 2,-13/*mean (0.234334), correlation (0.455304)*/,
2,-12, 12,12/*mean (0.235684), correlation (0.443436)*/,
-2,-13, 0,-6/*mean (0.237674), correlation (0.452525)*/,
4,1, 9,3/*mean (0.23962), correlation (0.444824)*/,
-6,-10, -3,-5/*mean (0.248459), correlation (0.439621)*/,
-3,-13, -1,1/*mean (0.249505), correlation (0.456666)*/,
7,5, 12,-11/*mean (0.00119208), correlation (0.495466)*/,
4,-2, 5,-7/*mean (0.00372245), correlation (0.484214)*/,
-13,9, -9,-5/*mean (0.00741116), correlation (0.499854)*/,
7,1, 8,6/*mean (0.0208952), correlation (0.499773)*/,
7,-8, 7,6/*mean (0.0220085), correlation (0.501609)*/,
-7,-4, -7,1/*mean (0.0233806), correlation (0.496568)*/,
-8,11, -7,-8/*mean (0.0236505), correlation (0.489719)*/,
-13,6, -12,-8/*mean (0.0268781), correlation (0.503487)*/,
2,4, 3,9/*mean (0.0323324), correlation (0.501938)*/,
10,-5, 12,3/*mean (0.0399235), correlation (0.494029)*/,
-6,-5, -6,7/*mean (0.0420153), correlation (0.486579)*/,
8,-3, 9,-8/*mean (0.0548021), correlation (0.484237)*/,
2,-12, 2,8/*mean (0.0616622), correlation (0.496642)*/,
-11,-2, -10,3/*mean (0.0627755), correlation (0.498563)*/,
-12,-13, -7,-9/*mean (0.0829622), correlation (0.495491)*/,
-11,0, -10,-5/*mean (0.0843342), correlation (0.487146)*/,
5,-3, 11,8/*mean (0.0929937), correlation (0.502315)*/,
-2,-13, -1,12/*mean (0.113327), correlation (0.48941)*/,
-1,-8, 0,9/*mean (0.132119), correlation (0.467268)*/,
-13,-11, -12,-5/*mean (0.136269), correlation (0.498771)*/,
-10,-2, -10,11/*mean (0.142173), correlation (0.498714)*/,
-3,9, -2,-13/*mean (0.144141), correlation (0.491973)*/,
2,-3, 3,2/*mean (0.14892), correlation (0.500782)*/,
-9,-13, -4,0/*mean (0.150371), correlation (0.498211)*/,
-4,6, -3,-10/*mean (0.152159), correlation (0.495547)*/,
-4,12, -2,-7/*mean (0.156152), correlation (0.496925)*/,
-6,-11, -4,9/*mean (0.15749), correlation (0.499222)*/,
6,-3, 6,11/*mean (0.159211), correlation (0.503821)*/,
-13,11, -5,5/*mean (0.162427), correlation (0.501907)*/,
11,11, 12,6/*mean (0.16652), correlation (0.497632)*/,
7,-5, 12,-2/*mean (0.169141), correlation (0.484474)*/,
-1,12, 0,7/*mean (0.169456), correlation (0.495339)*/,
-4,-8, -3,-2/*mean (0.171457), correlation (0.487251)*/,
-7,1, -6,7/*mean (0.175), correlation (0.500024)*/,
-13,-12, -8,-13/*mean (0.175866), correlation (0.497523)*/,
-7,-2, -6,-8/*mean (0.178273), correlation (0.501854)*/,
-8,5, -6,-9/*mean (0.181107), correlation (0.494888)*/,
-5,-1, -4,5/*mean (0.190227), correlation (0.482557)*/,
-13,7, -8,10/*mean (0.196739), correlation (0.496503)*/,
1,5, 5,-13/*mean (0.19973), correlation (0.499759)*/,
1,0, 10,-13/*mean (0.204465), correlation (0.49873)*/,
9,12, 10,-1/*mean (0.209334), correlation (0.49063)*/,
5,-8, 10,-9/*mean (0.211134), correlation (0.503011)*/,
-1,11, 1,-13/*mean (0.212), correlation (0.499414)*/,
-9,-3, -6,2/*mean (0.212168), correlation (0.480739)*/,
-1,-10, 1,12/*mean (0.212731), correlation (0.502523)*/,
-13,1, -8,-10/*mean (0.21327), correlation (0.489786)*/,
8,-11, 10,-6/*mean (0.214159), correlation (0.488246)*/,
2,-13, 3,-6/*mean (0.216993), correlation (0.50287)*/,
7,-13, 12,-9/*mean (0.223639), correlation (0.470502)*/,
-10,-10, -5,-7/*mean (0.224089), correlation (0.500852)*/,
-10,-8, -8,-13/*mean (0.228666), correlation (0.502629)*/,
4,-6, 8,5/*mean (0.22906), correlation (0.498305)*/,
3,12, 8,-13/*mean (0.233378), correlation (0.503825)*/,
-4,2, -3,-3/*mean (0.234323), correlation (0.476692)*/,
5,-13, 10,-12/*mean (0.236392), correlation (0.475462)*/,
4,-13, 5,-1/*mean (0.236842), correlation (0.504132)*/,
-9,9, -4,3/*mean (0.236977), correlation (0.497739)*/,
0,3, 3,-9/*mean (0.24314), correlation (0.499398)*/,
-12,1, -6,1/*mean (0.243297), correlation (0.489447)*/,
3,2, 4,-8/*mean (0.00155196), correlation (0.553496)*/,
-10,-10, -10,9/*mean (0.00239541), correlation (0.54297)*/,
8,-13, 12,12/*mean (0.0034413), correlation (0.544361)*/,
-8,-12, -6,-5/*mean (0.003565), correlation (0.551225)*/,
2,2, 3,7/*mean (0.00835583), correlation (0.55285)*/,
10,6, 11,-8/*mean (0.00885065), correlation (0.540913)*/,
6,8, 8,-12/*mean (0.0101552), correlation (0.551085)*/,
-7,10, -6,5/*mean (0.0102227), correlation (0.533635)*/,
-3,-9, -3,9/*mean (0.0110211), correlation (0.543121)*/,
-1,-13, -1,5/*mean (0.0113473), correlation (0.550173)*/,
-3,-7, -3,4/*mean (0.0140913), correlation (0.554774)*/,
-8,-2, -8,3/*mean (0.017049), correlation (0.55461)*/,
4,2, 12,12/*mean (0.01778), correlation (0.546921)*/,
2,-5, 3,11/*mean (0.0224022), correlation (0.549667)*/,
6,-9, 11,-13/*mean (0.029161), correlation (0.546295)*/,
3,-1, 7,12/*mean (0.0303081), correlation (0.548599)*/,
11,-1, 12,4/*mean (0.0355151), correlation (0.523943)*/,
-3,0, -3,6/*mean (0.0417904), correlation (0.543395)*/,
4,-11, 4,12/*mean (0.0487292), correlation (0.542818)*/,
2,-4, 2,1/*mean (0.0575124), correlation (0.554888)*/,
-10,-6, -8,1/*mean (0.0594242), correlation (0.544026)*/,
-13,7, -11,1/*mean (0.0597391), correlation (0.550524)*/,
-13,12, -11,-13/*mean (0.0608974), correlation (0.55383)*/,
6,0, 11,-13/*mean (0.065126), correlation (0.552006)*/,
0,-1, 1,4/*mean (0.074224), correlation (0.546372)*/,
-13,3, -9,-2/*mean (0.0808592), correlation (0.554875)*/,
-9,8, -6,-3/*mean (0.0883378), correlation (0.551178)*/,
-13,-6, -8,-2/*mean (0.0901035), correlation (0.548446)*/,
5,-9, 8,10/*mean (0.0949843), correlation (0.554694)*/,
2,7, 3,-9/*mean (0.0994152), correlation (0.550979)*/,
-1,-6, -1,-1/*mean (0.10045), correlation (0.552714)*/,
9,5, 11,-2/*mean (0.100686), correlation (0.552594)*/,
11,-3, 12,-8/*mean (0.101091), correlation (0.532394)*/,
3,0, 3,5/*mean (0.101147), correlation (0.525576)*/,
-1,4, 0,10/*mean (0.105263), correlation (0.531498)*/,
3,-6, 4,5/*mean (0.110785), correlation (0.540491)*/,
-13,0, -10,5/*mean (0.112798), correlation (0.536582)*/,
5,8, 12,11/*mean (0.114181), correlation (0.555793)*/,
8,9, 9,-6/*mean (0.117431), correlation (0.553763)*/,
7,-4, 8,-12/*mean (0.118522), correlation (0.553452)*/,
-10,4, -10,9/*mean (0.12094), correlation (0.554785)*/,
7,3, 12,4/*mean (0.122582), correlation (0.555825)*/,
9,-7, 10,-2/*mean (0.124978), correlation (0.549846)*/,
7,0, 12,-2/*mean (0.127002), correlation (0.537452)*/,
-1,-6, 0,-11/*mean (0.127148), correlation (0.547401)*/
};
特征点提取器的构造函数
ORBextractor::ORBextractor(int _nfeatures, //指定要提取的特征点数目
float _scaleFactor, //指定图像金字塔的缩放系数
int _nlevels, //指定图像金字塔的层数
int _iniThFAST, //指定初始的FAST特征点提取参数，可以提取出最明显的角点
int _minThFAST): //如果因为图像纹理不丰富提取出的特征点不多，为了达到想要的特征点数目，
//就使用这个参数提取出不是那么明显的角点
nfeatures(_nfeatures), scaleFactor(_scaleFactor), nlevels(_nlevels),
iniThFAST(_iniThFAST), minThFAST(_minThFAST)//设置这些参数
{
//存储每层图像缩放系数的vector调整为符合图层数目的大小
mvScaleFactor.resize(nlevels);
//存储这个sigma^2，其实就是每层图像相对初始图像缩放因子的平方
mvLevelSigma2.resize(nlevels);
//对于初始图像，这两个参数都是1
mvScaleFactor[0]=1.0f;
mvLevelSigma2[0]=1.0f;
//然后逐层计算图像金字塔中图像相当于初始图像的缩放系数
for(int i=1; i<nlevels; i++)
{
//其实就是这样累乘计算得出来的
mvScaleFactor[i]=mvScaleFactor[i-1]*scaleFactor;
//原来这里的sigma^2就是每层图像相对于初始图像缩放因子的平方
mvLevelSigma2[i]=mvScaleFactor[i]*mvScaleFactor[i];
}
//接下来的两个向量保存上面的参数的倒数，操作都是一样的就不再赘述了
mvInvScaleFactor.resize(nlevels);
mvInvLevelSigma2.resize(nlevels);
for(int i=0; i<nlevels; i++)
{
mvInvScaleFactor[i]=1.0f/mvScaleFactor[i];
mvInvLevelSigma2[i]=1.0f/mvLevelSigma2[i];
}
//调整图像金字塔vector以使得其符合咱们设定的图像层数
mvImagePyramid.resize(nlevels);
//每层需要提取出来的特征点个数，这个向量也要根据图像金字塔设定的层数进行调整
mnFeaturesPerLevel.resize(nlevels);
//图片降采样缩放系数的倒数
float factor = 1.0f / scaleFactor;
//每个单位缩放系数所希望的特征点个数
float nDesiredFeaturesPerScale = nfeatures*(1 - factor)/(1 - (float)pow((double)factor, (double)nlevels));
//用于在特征点个数分配的，特征点的累计计数清空
int sumFeatures = 0;
//开始逐层计算要分配的特征点个数，顶层图像除外（看循环后面）
for( int level = 0; level < nlevels-1; level++ )
{
//分配 cvRound : 返回个参数最接近的整数值
mnFeaturesPerLevel[level] = cvRound(nDesiredFeaturesPerScale);
//累计
sumFeatures += mnFeaturesPerLevel[level];
//乘系数
nDesiredFeaturesPerScale *= factor;
}
//由于前面的特征点个数取整操作，可能会导致剩余一些特征点个数没有被分配，所以这里就将这个余出来的特征点分配到最高的图层中
mnFeaturesPerLevel[nlevels-1] = std::max(nfeatures - sumFeatures, 0);
//成员变量pattern的长度，也就是点的个数，这里的512表示512个点（上面的数组中是存储的坐标所以是256*2*2）
const int npoints = 512;
//获取用于计算BRIEF描述子的随机采样点点集头指针
//注意到pattern0数据类型为Points*,bit_pattern_31_是int[]型，所以这里需要进行强制类型转换
const Point* pattern0 = (const Point*)bit_pattern_31_;
//使用std::back_inserter的目的是可以快覆盖掉这个容器pattern之前的数据
//其实这里的操作就是，将在全局变量区域的、int格式的随机采样点以cv::point格式复制到当前类对象中的成员变量中
std::copy(pattern0, pattern0 + npoints, std::back_inserter(pattern));
//This is for orientation
//下面的内容是和特征点的旋转计算有关的
// pre-compute the end of a row in a circular patch
//预先计算圆形patch中行的结束位置
//+1中的1表示那个圆的中间行
umax.resize(HALF_PATCH_SIZE + 1);
//cvFloor返回不大于参数的最大整数值，cvCeil返回不小于参数的最小整数值，cvRound则是四舍五入
int v, //循环辅助变量
v0, //辅助变量
vmax = cvFloor(HALF_PATCH_SIZE * sqrt(2.f) / 2 + 1); //计算圆的最大行号，+1应该是把中间行也给考虑进去了
//NOTICE 注意这里的最大行号指的是计算的时候的最大行号，此行的和圆的角点在45°圆心角的一边上，之所以这样选择
//是因为圆周上的对称特性
//这里的二分之根2就是对应那个45°圆心角
int vmin = cvCeil(HALF_PATCH_SIZE * sqrt(2.f) / 2);
//半径的平方
const double hp2 = HALF_PATCH_SIZE*HALF_PATCH_SIZE;
//利用圆的方程计算每行像素的u坐标边界（max）
for (v = 0; v <= vmax; ++v)
umax[v] = cvRound(sqrt(hp2 - v * v)); //结果都是大于0的结果，表示x坐标在这一行的边界
// Make sure we are symmetric
//这里其实是使用了对称的方式计算上四分之一的圆周上的umax，目的也是为了保持严格的对称（如果按照常规的想法做，由于cvRound就会很容易出现不对称的情况，
//同时这些随机采样的特征点集也不能够满足旋转之后的采样不变性了）
for (v = HALF_PATCH_SIZE, v0 = 0; v >= vmin; --v)
{
while (umax[v0] == umax[v0 + 1])
++v0;
umax[v] = v0;
++v0;
}
}
计算特征点的方向
static void computeOrientation(const Mat& image, vector<KeyPoint>& keypoints, const vector<int>& umax)
{
// 遍历所有的特征点
for (vector<KeyPoint>::iterator keypoint = keypoints.begin(),
keypointEnd = keypoints.end(); keypoint != keypointEnd; ++keypoint)
{
// 调用IC_Angle 函数计算这个特征点的方向
keypoint->angle = IC_Angle(image, //特征点所在的图层的图像
keypoint->pt, //特征点在这张图像中的坐标
umax); //每个特征点所在图像区块的每行的边界 u_max 组成的vector
}
}
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