ORB_SLAM3单目代码阅读——ORB特征点提取

ORB特征点坐标为小数：ORB特征提取器默认分8层提取，当把高层图像中的FAST角点坐标转换到原始图像坐标系下时会产生小数，而原始图像所在的最低层因为不需要对坐标进行调整，因此就没有小数部分。

ORBextractor.cpp代码注释

/**
* This file is part of ORB-SLAM3
*
* Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
* Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
*
* ORB-SLAM3 is free software: you can redistribute it and/or modify it under the terms of the GNU General Public
* License as published by the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* ORB-SLAM3 is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even
* the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License along with ORB-SLAM3.
* If not, see <http://www.gnu.org/licenses/>.
*/
/**
* Software License Agreement (BSD License)
*
*  Copyright (c) 2009, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <vector>
#include <iostream>

#include "ORBextractor.h"


using namespace cv;
using namespace std;

namespace ORB_SLAM3
{

    const int PATCH_SIZE = 31;
    const int HALF_PATCH_SIZE = 15;
    const int EDGE_THRESHOLD = 19;


    static float IC_Angle(const Mat& image, Point2f pt,  const vector<int> & u_max)//计算特征点区域的角度信息
    {
        int m_01 = 0, m_10 = 0;

        const uchar* center = &image.at<uchar> (cvRound(pt.y), cvRound(pt.x));

        // Treat the center line differently, v=0
        for (int u = -HALF_PATCH_SIZE; u <= HALF_PATCH_SIZE; ++u)//m10对该行的灰度值求一个加权平均
            m_10 += u * center[u];

        // Go line by line in the circuI853lar patch
        int step = (int)image.step1();//step[1]:指从当前图像行首到下一行首相距多少字节
        for (int v = 1; v <= HALF_PATCH_SIZE; ++v)
        {
            // Proceed over the two lines
            int v_sum = 0;
            int d = u_max[v];            //umax={15 15 15 15 14 14 14 13 13 12 11 10 9 8 6 3}
            for (int u = -d; u <= d; ++u)
            {
                int val_plus = center[u + v*step], val_minus = center[u - v*step];
                v_sum += (val_plus - val_minus);
                m_10 += u * (val_plus + val_minus);
            }
            m_01 += v * v_sum;
        }

        return fastAtan2((float)m_01, (float)m_10);
    }


    const float factorPI = (float)(CV_PI/180.f);
    static void computeOrbDescriptor(const KeyPoint& kpt,
                                     const Mat& img, const Point* pattern,
                                     uchar* desc)
    {
        float angle = (float)kpt.angle*factorPI;
        float a = (float)cos(angle), b = (float)sin(angle);//添加旋转角度偏移量，保持旋转不变性

        const uchar* center = &img.at<uchar>(cvRound(kpt.pt.y), cvRound(kpt.pt.x));
        const int step = (int)img.step;

#define GET_VALUE(idx) \
        center[cvRound(pattern[idx].x*b + pattern[idx].y*a)*step + \
               cvRound(pattern[idx].x*a - pattern[idx].y*b)]


        for (int i = 0; i < 32; ++i, pattern += 16)
        {
            int t0, t1, val;
            t0 = GET_VALUE(0); t1 = GET_VALUE(1);
            val = t0 < t1;
            t0 = GET_VALUE(2); t1 = GET_VALUE(3);
            val |= (t0 < t1) << 1;
            t0 = GET_VALUE(4); t1 = GET_VALUE(5);
            val |= (t0 < t1) << 2;
            t0 = GET_VALUE(6); t1 = GET_VALUE(7);
            val |= (t0 < t1) << 3;
            t0 = GET_VALUE(8); t1 = GET_VALUE(9);
            val |= (t0 < t1) << 4;
            t0 = GET_VALUE(10); t1 = GET_VALUE(11);
            val |= (t0 < t1) << 5;
            t0 = GET_VALUE(12); t1 = GET_VALUE(13);
            val |= (t0 < t1) << 6;
            t0 = GET_VALUE(14); t1 = GET_VALUE(15);
            val |= (t0 < t1) << 7;

            desc[i] = (uchar)val;
        }

#undef GET_VALUE
    }


    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