{"id":7580,"date":"2024-07-14T18:01:01","date_gmt":"2024-07-14T10:01:01","guid":{"rendered":""},"modified":"2024-07-14T18:01:01","modified_gmt":"2024-07-14T10:01:01","slug":"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81","status":"publish","type":"post","link":"https:\/\/mushiming.com\/7580.html","title":{"rendered":"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81"},"content":{"rendered":"<p><svg xmlns=\"http:\/\/www.w3.org\/2000\/svg\" style=\"display: none;\"> \n <path stroke-linecap=\"round\" d=\"M5,0 0,2.5 5,5z\" id=\"raphael-marker-block\" style=\"-webkit-tap-highlight-color: rgba(0, 0, 0, 0);\"><\/path> \n<\/svg> <\/p>\n<div class=\"toc\">\n<h4>\u6587\u7ae0\u76ee\u5f55<\/h4>\n<ul>\n<li>1.\u6a21\u5757\u529f\u80fd\u7b80\u8ff0<\/li>\n<li>2.\u6784\u9020\u51fd\u6570<\/li>\n<li>3 \u7279\u5f81\u63d0\u53d6<\/li>\n<li>\n<ul>\n<li>3.1 \u521b\u5efa\u56fe\u50cf\u91d1\u5b57\u5854<\/li>\n<li>3.2 \u5bf9\u6bcf\u5c42\u56fe\u50cf\u63d0\u53d6Fast\u7279\u5f81\u70b9\u5e76\u8ba1\u7b97\u7279\u5f81\u70b9\u7684\u65b9\u5411<\/li>\n<li>\n<ul>\n<li>3.2.1 Fast\u5173\u952e\u70b9\u63d0\u53d6<\/li>\n<li>3.2.2 \u57fa\u4e8e\u56db\u53c9\u6811\u7684\u7279\u5f81\u5747\u5300\u5316\u5206\u5e03<\/li>\n<li>3.2.3 \u8ba1\u7b97\u7279\u5f81\u70b9\u65b9\u5411<\/li>\n<\/ul>\n<\/li>\n<li>3.3 \u8ba1\u7b97\u7279\u5f81\u70b9\u7684\u63cf\u8ff0\u5b50<\/li>\n<li>\n<ul>\n<li>3.3.1 BRIEF\u63cf\u8ff0\u5b50\u7b80\u4ecb<\/li>\n<li>3.3.2 Steered BRIEF<\/li>\n<\/ul>\n<\/li>\n<\/ul>\n<\/li>\n<li>4.\u8fd4\u56de\u503c<\/li>\n<li>5.\u4e00\u70b9\u62d3\u5c55\u548c\u601d\u8003<\/li>\n<\/ul>\n<\/div>\n<h2>1.\u6a21\u5757\u529f\u80fd\u7b80\u8ff0<\/h2>\n<p>\u8be5\u6a21\u5757\u4e3b\u8981\u662f\u8fdb\u884cORB\u7279\u5f81\u70b9\u7684\u63d0\u53d6,\u63cf\u8ff0\u5b50\u7684\u8ba1\u7b97;\u8f93\u5165\u4e00\u5f20\u539f\u59cb\u56fe\u50cf,\u8f93\u51faKeyPoints\u548cDescriptor\u3002\u4e3b\u8981\u5305\u542b\u521b\u5efa\u56fe\u50cf\u91d1\u5b57\u5854,\u5bf9\u91d1\u5b57\u5854\u56fe\u50cf\u8fdb\u884c\u7279\u5f81\u63d0\u53d6,\u5bf9\u7279\u5f81\u70b9\u8fdb\u884c\u57fa\u4e8e\u56db\u53c9\u6811\u7684\u5747\u5300\u5316\u5206\u5e03\uff0c\u8ba1\u7b97\u7279\u5f81\u70b9\u65b9\u5411,\u8ba1\u7b97\u63cf\u8ff0\u5b50\u7b49\u56db\u4e2a\u4e3b\u8981\u6a21\u5757\u3002<\/p>\n<h2>2.\u6784\u9020\u51fd\u6570<\/h2>\n<p>\u6784\u9020\u51fd\u6570\u521d\u59cb\u5316\u4e00\u4e2a\u7279\u5f81\u63d0\u53d6\u5668\uff0c\u89c4\u5b9a\u4e86\u7279\u5f81\u63d0\u53d6\u7684\u6570\u91cf\uff0c\u91d1\u5b57\u5854\u5c3a\u5ea6\u56e0\u5b50\uff0c\u91d1\u5b57\u5854\u5c42\u6570\uff0c\u7279\u5f81\u63d0\u53d6\u65f6\u7684\u5927\u5c0f\u9608\u503c\u3002\u6839\u636e\u7cfb\u7edf\u9009\u62e9\u7684\u4f20\u611f\u5668\u4e0d\u540c\uff0c\u5728Tracking\u7ebf\u7a0b\u4e2d\u4f1a\u4f7f\u7528\u4e0d\u540c\u7684\u53c2\u6570\u6784\u9020\u7279\u5f81\u63d0\u53d6\u5668\u3002\u4e3b\u8981\u5dee\u522b\u5728\u4e8e\uff0c\u5bf9\u4e8e\u5355\u76ee\u6a21\u5f0f\uff0c\u521d\u59cb\u5316\u4e4b\u524d\u63d0\u53d6\u7684\u7279\u5f81\u6570\u91cf\u662f\u5e73\u65f6\u76845\u500d\u3002<\/p>\n<pre class=\"language-java prettyprint linenums\"><code class=\"prism language-cpp\"><span class=\"token comment\">\/** * @brief Construct a new ORBextractor::ORBextractor object * * @param _nfeatures \u5355\u5f20\u56fe\u50cf\u9700\u8981\u63d0\u53d6\u7684\u7279\u5f81\u6570\u91cf * @param _scalFactor \u91d1\u5b57\u5854\u56fe\u50cf\u7684\u5c3a\u5ea6\u56e0\u5b50 * @param _nlevels \u91d1\u5b57\u5854\u5c42\u6570 * @param _iniThFAST \u5bbd\u677e\u9608\u503c * @param _minThFast \u4e25\u523b\u9608\u503c *\/<\/span> <span class=\"token class-name\">ORBextractor<\/span><span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">ORBextractor<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/span> _nfeatures<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">float<\/span> _scalFactor<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">int<\/span> _nlevels<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">int<\/span> _iniThFAST<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">int<\/span> _minThFast<span class=\"token punctuation\">)<\/span> <\/code><\/pre>\n<p><strong>\u6784\u9020\u51fd\u6570\u5728ORBSLAM\u7684Tracking\u7ebf\u7a0b\u7684\u6784\u9020\u51fd\u6570\u5b8c\u6210\uff0c\u53ea\u6784\u9020\u4e00\u6b21\uff0c\u4e3b\u8981\u5b8c\u6210\u7684\u4e8b\u60c5\u5982\u4e0b\uff1a<\/strong><\/p>\n<ol>\n<li>\n<p>\u521d\u59cb\u5316\u56fe\u50cf\u91d1\u5b57\u5854\u7684\u4e00\u4e9b\u53c2\u6570<br \/> \u4e3b\u8981\u5305\u62ec\u5c3a\u5ea6\u56e0\u5b50\u548c\u6bcf\u5c42\u91d1\u5b57\u5854\u56fe\u50cf\u9700\u8981\u63d0\u53d6\u7684\u7279\u5f81\u6570\uff0c\u8ba1\u7b97\u6bcf\u5c42\u91d1\u5b57\u5854\u56fe\u50cf\u7684\u7279\u5f81\u6570\u65f6\uff0c\u4e3b\u8981\u57fa\u4e8e\u7b49\u6bd4\u6570\u5217\u8fdb\u884c\u8ba1\u7b97\uff0c\u5df2\u7ecf\u77e5\u9053\u7b49\u6bd4\u6570\u5217\u524dn\u9879\u548c\u4ee5\u53ca\u6bd4\u503cq(\u5c3a\u5ea6\u56e0\u5b50<code>_scalFactor<\/code>)\uff0c\u53ef\u4ee5\u5f97\u5230\u6bcf\u4e00\u5c42\u91d1\u5b57\u5854\u56fe\u50cf\u9700\u8981\u63d0\u53d6\u7684\u7279\u5f81\u6570\u91cf(\u6709\u4e9b\u89e3\u6790\u662f\u6839\u636e\u6bcf\u5c42\u91d1\u5b57\u5854\u56fe\u50cf\u5360\u603b\u9762\u79ef\u7684\u6bd4\u503c\u5f97\u5230\u7684\uff0c\u4ee3\u7801\u4e2d\u6bd4\u8f83\u7b80\u5355\u7c97\u66b4\u76f4\u63a5\u5c06\u5c3a\u5ea6\u56e0\u5b50\u4f5c\u4e3a\u4e86\u6bd4\u503c);<\/p>\n<\/li>\n<li>\n<p>\u521d\u59cb\u5316\u8ba1\u7b97\u63cf\u8ff0\u5b50\u7684256\u7ec4\u70b9\u5bf9<br \/> \u8fd9256\u4e2a\u70b9\u5bf9\u5373512\u4e2a\u70b9\u662f\u8bba\u6587\u91cc\u901a\u8fc7\u8bad\u7ec3\u5f97\u5230\u7684\u4f4d\u7f6e\uff0c\u53ef\u4ee5\u8ba9\u7279\u5f81\u70b9\u62e5\u6709\u66f4\u597d\u7684\u533a\u5206\u5ea6\u3002\u8981\u8bf4\u660e\u7684\u662f\uff0cORBSLAM\u7684BRIEF\u63cf\u8ff0\u5b50\u6709256\u7ef4\uff0c\u8fd9\u4e00\u70b9\u548c\u300a\u5341\u56db\u8bb2\u300b\u4e2d\u7684128\u7ef4\u6709\u6240\u533a\u522b<br \/> \u8fd9\u4e9b\u70b9\u5bf9\u7684\u5750\u6807\u7cfb\u4f7f\u7528\u7684\u662f\u56fe\u50cf\u5757\u7684\u5c40\u90e8\u5750\u6807\u7cfb\uff0c\u4ee5\u56fe\u50cf\u5757\u4e2d\u5fc3\u50cf\u7d20\u4e3a\u539f\u70b9\uff0c\u4e2d\u5fc3\u7ebf\u4e3a\u5750\u6807\u8f74\uff0c\u56e0\u6b64x,y\u65b9\u5411\u7684\u5750\u6807\u8303\u56f4\u5747\u4e3a[-15 ,15]<\/p>\n<\/li>\n<li>\n<p>\u521d\u59cb\u5316\u8ba1\u7b97\u7279\u5f81\u70b9\u65b9\u5411\u7684\u5706\u5f62\u533a\u57df\u8fb9\u754c<br \/> \u56e0\u4e3a\u8003\u8651\u5230\u50cf\u7d20\u5750\u6807\u90fd\u662f\u6574\u6570\u7684\u95ee\u9898\uff0c\u6240\u4ee5\u8fd9\u91cc\u7684\u5706\u5f62\u533a\u57df\u53ea\u662f\u4e00\u4e2a\u8fd1\u4f3c\u7684\u8ba1\u7b97\uff0c\u5728\u56fe\u50cf\u4e2d\u884c\u7528v\u8868\u793a\uff0c\u5217\u7528u\u8868\u793a\uff0c\u4f5c\u8005\u7684\u601d\u8def\u662f\u5148\u901a\u8fc7\u52fe\u80a1\u5b9a\u7406\u548c\u56db\u820d\u4e94\u5165\u5f97\u52300-45\u5ea6\u533a\u95f4\u5185\u7684\u5706\u5f62\u533a\u57df\u8fb9\u754c\u5750\u6807\uff0c\u7136\u540e\u901a\u8fc7\u5bf9\u79f0\u64cd\u4f5c\u5f97\u523045-90\u5ea6\u533a\u95f4\u7684\u8fb9\u754c\u503c\uff0c\u6700\u7ec8\u53ef\u4ee5\u5f97\u5230\u5750\u6807\u7cfb\u7b2c\u4e00\u8c61\u9650\u4e0b\u76841\/4\u5706\u7684\u5750\u6807\u3002<\/p>\n<p><strong>\u5bf9\u4e8e\u7b2c\u4e00\u8c61\u9650\u7684\u6bcf\u4e2av\u503c\u5bf9\u5e94\u7684u\u503c\u5982\u4e0b\uff1a<\/strong><br \/> <strong>\u4e0b\u534a\u90e8\u5206\uff1a<\/strong><br \/> <code>u[0]=15, u[1]=15, u[2]=15, u[3]=15, u[4]=14, u[5]=14, u[6]=14, u[7]=13, u[8]=13, u[9]=12, u[10]=11, u[11]=10<\/code><br \/> <strong>\u4e0a\u534a\u90e8\u5206\uff1a<\/strong><br \/> <code>u[15]=3, u[14]=6, u[13]=8, u[12] = 9, u[11]=10, u[10]=11<\/code><br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/4c7054996c414dfabb77bfe918353faf.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c1\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c1\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<\/li>\n<\/ol>\n<h2>3 \u7279\u5f81\u63d0\u53d6<\/h2>\n<pre class=\"language-java prettyprint linenums\"><code class=\"prism language-cpp\"><span class=\"token comment\">\/** * @brief ()\u91cd\u8f7d\u51fd\u6570\uff0c\u7279\u5f81\u63d0\u53d6\u7684\u5916\u5c42\u8c03\u7528\u51fd\u6570 * @param _image \u8f93\u5165\u56fe\u50cf * @param _mask \u63a9\u819c\uff0c\u6ca1\u6709\u7528\u5230 * @param _keypoints \u8f93\u51fa\uff0c\u6574\u526f\u56fe\u50cf\u7684\u7279\u5f81\u70b9 * @param _descriptors \u8f93\u51fa\uff0c\u7279\u5f81\u70b9\u63cf\u8ff0\u5b50 * @param vLappingArea \u53cc\u5355\u76ee\u6a21\u5f0f\u4e0b\u4e24\u4e2a\u76f8\u673a\u56fe\u50cf\u7684\u91cd\u53e0\u533a\u57df * @return int \u7279\u5f81\u70b9\u7684\u6570\u91cf *\/<\/span> <span class=\"token keyword\">int<\/span> <span class=\"token class-name\">ORBextractor<\/span><span class=\"token double-colon punctuation\">::<\/span><span class=\"token keyword\">operator<\/span><span class=\"token punctuation\">(<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">(<\/span>InputArray _image<span class=\"token punctuation\">,<\/span> InputArray _mask<span class=\"token punctuation\">,<\/span> vector<span class=\"token operator\">&lt;<\/span>KeyPoint<span class=\"token operator\">&gt;<\/span><span class=\"token operator\">&amp;<\/span> _keypoints<span class=\"token punctuation\">,<\/span> OutputArray _descriptors<span class=\"token punctuation\">,<\/span> std<span class=\"token double-colon punctuation\">::<\/span>vector<span class=\"token operator\">&lt;<\/span><span class=\"token keyword\">int<\/span><span class=\"token operator\">&gt;<\/span> <span class=\"token operator\">&amp;<\/span>vLappingArea<span class=\"token punctuation\">)<\/span> <\/code><\/pre>\n<p>\u7279\u5f81\u63d0\u53d6\u51fd\u6570\u662f\u8be5\u6a21\u5757\u7684\u6838\u5fc3\u51fd\u6570\uff0c\u5305\u62ec\u521b\u5efa\u56fe\u50cf\u91d1\u5b57\u5854\uff0c\u5bf9\u6bcf\u5c42\u91d1\u5b57\u5854\u56fe\u50cf\u8fdb\u884c\u7279\u5f81\u63d0\u53d6\uff0c\u57fa\u4e8e\u56db\u53c9\u6811\u5bf9\u7279\u5f81\u8fdb\u884c\u5747\u5300\u5316\u5904\u7406\uff0c\u8ba1\u7b97fast\u7279\u5f81\u70b9\u7684\u65b9\u5411\uff0c\u8ba1\u7b97\u7279\u5f81\u70b9\u5bf9\u5e94\u7684\u63cf\u8ff0\u5b50<\/p>\n<h3>3.1 \u521b\u5efa\u56fe\u50cf\u91d1\u5b57\u5854<\/h3>\n<p>\u5bf9ORBSLAM\u4ee3\u7801\u8fdb\u884c\u4fee\u6539\uff0c\u53bb\u6389\u6269\u8fb9\u5904\u7406\uff0c\u901a\u8fc7\u5bf9\u56fe\u50cf\u8fdb\u884cresize\u83b7\u5f97\u91d1\u5b57\u5854\u7684\u6bcf\u4e00\u5c42\u56fe\u50cf\uff0c\u6839\u636e\u5bf9\u4e24\u79cd\u65b9\u6cd5\u5f97\u5230\u7684\u56fe\u50cf\u91d1\u5b57\u5854\u8fdb\u884c\u5bf9\u6bd4\uff0c\u6240\u5f97\u5230\u7684\u7ed3\u679c\u4e00\u81f4,\u83b7\u5f97\u7684\u91d1\u5b57\u5854\u56fe\u50cf\u5b58\u50a8\u5728\u6210\u5458\u53d8\u91cf<code>mvImagePyramid<\/code>\u4e2d\u3002<\/p>\n<pre class=\"language-java prettyprint linenums\"><code class=\"prism language-cpp\"><span class=\"token keyword\">void<\/span> <span class=\"token class-name\">ORBextractor<\/span><span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">ComputePyramid<\/span><span class=\"token punctuation\">(<\/span>cv<span class=\"token double-colon punctuation\">::<\/span>Mat image<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <\/code><\/pre>\n<p>\u5728\u5bf9\u56fe\u50cfresize\u65f6\uff0c\u5173\u4e8e\u56fe\u50cf\u7684\u5bbd\u548c\u9ad8\u4f1a\u8fdb\u884c\u56db\u820d\u4e94\u5165\u7684\u53d6\u6574\u64cd\u4f5c\u3002\u56fe\u50cf\u50cf\u7d20\u5750\u6807\u8868\u793a\u67d0\u4e2a\u50cf\u7d20\u5728\u56fe\u50cf\u7684\u7b2c\u51e0\u884c\u7b2c\u51e0\u5217\uff0c\u4e00\u822c\u90fd\u662f\u6574\u6570\uff0c\u76ee\u524d\u53ea\u5728\u8fdb\u884c\u53cc\u76ee\u4e4b\u95f4\u7279\u5f81\u5339\u914d\u65f6\u4f7f\u7528\u5230\u4e86\u4e9a\u50cf\u7d20\u7ea7\u522b\u7684\u7cbe\u5ea6\uff0c\u4f46\u8fd9\u53ea\u7528\u4e8e3D\u70b9\u7684\u6062\u590d\u3002<\/p>\n<p>(\u901a\u8fc7\u5bf9\u6bd4\uff0c\u76f4\u63a5\u5bf9\u56fe\u50cf\u8fdb\u884cresize\u548c\u5bf9\u56fe\u50cf\u8fdb\u884c\u6269\u8fb9\u5f97\u5230\u7684\u91d1\u5b57\u5854\u56fe\u50cf\u5728\u5c3a\u5bf8\u4ee5\u53ca\u50cf\u7d20\u4e0a\u76f8\u540c\uff0c\u6240\u4ee5\u521b\u5efa\u56fe\u50cf\u91d1\u5b57\u5854\u4e2d\u7684\u6269\u8fb9\u5904\u7406\u611f\u89c9\u5c31\u5f88\u9e21\u808b)<\/p>\n<h3>3.2 \u5bf9\u6bcf\u5c42\u56fe\u50cf\u63d0\u53d6Fast\u7279\u5f81\u70b9\u5e76\u8ba1\u7b97\u7279\u5f81\u70b9\u7684\u65b9\u5411<\/h3>\n<p><strong>\u51fd\u6570\u5165\u53e3\uff1a<\/strong><\/p>\n<pre class=\"language-java prettyprint linenums\"><code class=\"prism language-cpp\"><span class=\"token keyword\">void<\/span> <span class=\"token class-name\">ORBextractor<\/span><span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">ComputeKeyPointsOctTree<\/span><span class=\"token punctuation\">(<\/span>std<span class=\"token double-colon punctuation\">::<\/span>vector<span class=\"token operator\">&lt;<\/span>std<span class=\"token double-colon punctuation\">::<\/span>vector<span class=\"token operator\">&lt;<\/span>cv<span class=\"token double-colon punctuation\">::<\/span>KeyPoint<span class=\"token operator\">&gt;<\/span> <span class=\"token operator\">&gt;<\/span> <span class=\"token operator\">&amp;<\/span>allKeypoints<span class=\"token punctuation\">)<\/span><span class=\"token comment\">\/\/ \u51fd\u6570\u603b\u5165\u53e3<\/span> <span class=\"token operator\">--<\/span><span class=\"token operator\">--<\/span><span class=\"token operator\">&gt;<\/span><span class=\"token keyword\">void<\/span> <span class=\"token class-name\">ORBextractor<\/span><span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">ComputeKeyPointsOctTreeEveryLevel<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/span> level<span class=\"token punctuation\">,<\/span> std<span class=\"token double-colon punctuation\">::<\/span>vector<span class=\"token operator\">&lt;<\/span>std<span class=\"token double-colon punctuation\">::<\/span>vector<span class=\"token operator\">&lt;<\/span>cv<span class=\"token double-colon punctuation\">::<\/span>KeyPoint<span class=\"token operator\">&gt;<\/span> <span class=\"token operator\">&gt;<\/span> <span class=\"token operator\">&amp;<\/span>allKeypoints<span class=\"token punctuation\">)<\/span><span class=\"token comment\">\/\/ \u63d0\u53d6\u5355\u5c42\u7684\u56fe\u50cf\u7279\u5f81\u70b9<\/span> <span class=\"token operator\">--<\/span><span class=\"token operator\">--<\/span><span class=\"token operator\">&gt;<\/span><span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">computeOrientation<\/span><span class=\"token punctuation\">(<\/span>cv<span class=\"token double-colon punctuation\">::<\/span>Mat <span class=\"token operator\">&amp;<\/span>image<span class=\"token punctuation\">,<\/span> vector<span class=\"token operator\">&lt;<\/span>cv<span class=\"token double-colon punctuation\">::<\/span>KeyPoint<span class=\"token operator\">&gt;<\/span><span class=\"token operator\">&amp;<\/span> keypoints<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">const<\/span> vector<span class=\"token operator\">&lt;<\/span><span class=\"token keyword\">int<\/span><span class=\"token operator\">&gt;<\/span> <span class=\"token operator\">&amp;<\/span>umax<span class=\"token punctuation\">)<\/span><span class=\"token comment\">\/\/ \u8ba1\u7b97\u5355\u5c42\u56fe\u50cf\u7279\u5f81\u70b9\u7684\u65b9\u5411<\/span> <\/code><\/pre>\n<h4>3.2.1 Fast\u5173\u952e\u70b9\u63d0\u53d6<\/h4>\n<ol>\n<li>\n<p>\u672c\u8d28\u4e0a\u8c03\u7528\u7684\u662fOpenCV\u7684\u51fd\u6570\u63a5\u53e3\uff0c\u9996\u5148\u5c06\u91d1\u5b57\u5854\u56fe\u50cf\u5212\u5206\u4e3a<code>wCell<\/code>\u5217<code>hCell<\/code>\u884c\u4e2a\u50cf\u7d20\u5757\uff0c\u6bcf\u4e2a\u50cf\u7d20\u5757\u7684\u8fb9\u957f\u5927\u6982\u572830\u5de6\u53f3\uff0c\u63d0\u53d6\u7279\u5f81\u70b9\u65f6\u904d\u5386\u6bcf\u4e2a\u50cf\u7d20\u5757\uff0c\u5e76\u5c06\u50cf\u7d20\u5757\u9001\u5165OpenCV\u51fd\u6570\u8fdb\u884c\u7279\u5f81\u63d0\u53d6\uff0c\u63d0\u53d6\u7ed3\u675f\u540e\u5c06\u7279\u5f81\u70b9\u7684\u5750\u6807\u6062\u590d\u6210\u56fe\u50cf\u4e0a\u7684\u5168\u5c40\u5750\u6807<\/p>\n<\/li>\n<li>\n<p>\u7279\u5f81\u63d0\u53d6\u8bbe\u7f6e\u4e86\u4e24\u4e2a\u9608\u503c\uff0cFast\u7279\u5f81\u63d0\u53d6\u5c31\u662f\u6bd4\u8f83\u67d0\u4e2a\u50cf\u7d20\u4e0e\u5468\u56f4\u4e00\u5708\u50cf\u7d20\u7684\u5dee\u5f02\uff0c\u5982\u679c\u4e0e\u8fde\u7eedN\u4e2a\u50cf\u7d20\u5dee\u503c\u5747\u5927\u4e8e\u67d0\u4e2a\u9608\u503c\u5c31\u8ba4\u4e3a\u8be5\u50cf\u7d20\u662f\u7279\u5f81\u70b9\uff0cORBSLAM\u7cfb\u5217\u8bbe\u7f6e\u4e86\u4e24\u4e2a\u5224\u65ad\u9608\u503c\uff0c\u4e00\u4e2a\u6bd4\u8f83\u4e25\u683c(_iniThFAST=20),\u4e00\u4e2a\u6bd4\u8f83\u5bbd\u677e(_minThFast=7),\u9996\u5148\u4f7f\u7528\u4e25\u683c\u7684\u9608\u503c\u5bf9\u50cf\u7d20\u5757\u4e2d\u7684\u56fe\u50cf\u8fdb\u884c\u68c0\u6d4b\uff0c\u5982\u679c\u68c0\u6d4b\u4e0d\u5230\u7279\u5f81\u70b9\u518d\u4f7f\u7528\u5bbd\u677e\u7684\u9608\u503c\u68c0\u6d4b<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/1eb150f0730148ca9b34fa1089ad016e.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c2\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c2\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<\/li>\n<li>\n<p>\u5c06\u56fe\u50cf\u5212\u5206\u6210\u5c0f\u7684\u50cf\u7d20\u5757\u5c31\u662f\u4e3a\u4e0a\u8ff0\u4e24\u79cd\u9608\u503c\u670d\u52a1\u7684\uff0c\u8fd9\u91cc\u7684\u601d\u60f3\u5c31\u662f\u5c3d\u91cf\u91c7\u7528\u68af\u5ea6\u53d8\u5316\u8f83\u660e\u663e\u7684\u50cf\u7d20\u4f5c\u4e3a\u7279\u5f81\u70b9\uff0c\u5982\u679c\u68c0\u6d4b\u4e0d\u5230\u518d\u653e\u5bbd\u9650\u5236\u3002\u4f46\u662f\u8fd9\u79cd\u65b9\u6cd5\u5728\u7eb9\u7406\u8f83\u5c11\u7684\u533a\u57df\u53ef\u80fd\u4f1a\u6d6a\u8d39\u8f83\u591a\u65f6\u95f4\uff0c\u56e0\u4e3a\u76f8\u5f53\u4e8e\u5bf9\u6574\u526f\u56fe\u50cf\u8fdb\u884c\u4e86\u4e24\u6b21\u7279\u5f81\u63d0\u53d6\u3002<\/p>\n<\/li>\n<\/ol>\n<h4>3.2.2 \u57fa\u4e8e\u56db\u53c9\u6811\u7684\u7279\u5f81\u5747\u5300\u5316\u5206\u5e03<\/h4>\n<p><strong>\u53c2\u8003\u94fe\u63a5:<\/strong> https:\/\/zhuanlan.zhihu.com\/p\/<br \/> <strong>\u4e3b\u8981\u6b65\u9aa4\u5982\u4e0b\uff1a<\/strong><\/p>\n<ol>\n<li>\u6839\u636e\u56fe\u50cf\u7684\u5bbd\u5ea6\u4e0e\u9ad8\u5ea6\u7684\u6bd4\u4f8b\u786e\u5b9a\u521d\u59cb\u8282\u70b9\u7684\u6570\u91cf(\u4e00\u822c\u521d\u59cb\u8282\u70b9\u53ea\u67091\u4e2anode,kitty\u6570\u636e\u96c6\u56fe\u50cf\u7684\u5206\u8fa8\u7387\u662f720x360\u4f1a\u88ab\u5212\u5206\u6210\u4e24\u4e2a)<\/li>\n<\/ol>\n<pre class=\"language-java prettyprint linenums\"><code class=\"prism language-cpp\"><span class=\"token keyword\">const<\/span> <span class=\"token keyword\">int<\/span> nIni <span class=\"token operator\">=<\/span> <span class=\"token function\">round<\/span><span class=\"token punctuation\">(<\/span><span class=\"token generic-function\"><span class=\"token function\">static_cast<\/span><span class=\"token generic class-name\"><span class=\"token operator\">&lt;<\/span><span class=\"token keyword\">float<\/span><span class=\"token operator\">&gt;<\/span><\/span><\/span><span class=\"token punctuation\">(<\/span>maxX<span class=\"token operator\">-<\/span>minX<span class=\"token punctuation\">)<\/span><span class=\"token operator\">\/<\/span><span class=\"token punctuation\">(<\/span>maxY<span class=\"token operator\">-<\/span>minY<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <\/code><\/pre>\n<ol start=\"2\">\n<li>\u5982\u679cnode\u91cc\u9762\u7684\u70b9\u6570&gt;1\uff0c\u628a\u6bcf\u4e2anode\u5206\u6210\u56db\u4e2anode;\u5982\u679cnode\u4e2d\u7684\u7279\u5f81\u70b9\u4e3a1,\u8be5node\u505c\u6b62\u5206\u88c2;\u5982\u679cnode\u91cc\u9762\u7684\u7279\u5f81\u70b9\u4e3a\u7a7a\uff0c\u5220\u6389\u3002\u5f53\u4e00\u4e2a\u7236\u8282\u70b9\u88ab\u5206\u62104\u4e2a\u5b50\u8282\u70b9\u65f6\uff0c\u8be5\u7236\u8282\u70b9\u5c31\u6ca1\u7528\u4e86\uff0c\u4f1a\u88ab\u4ece\u8282\u70b9\u5217\u8868\u4e2d\u5220\u6389<\/li>\n<\/ol>\n<pre class=\"language-java prettyprint linenums\"><code class=\"prism language-cpp\"><span class=\"token keyword\">void<\/span> <span class=\"token class-name\">ExtractorNode<\/span><span class=\"token double-colon punctuation\">::<\/span><span class=\"token function\">DivideNode<\/span><span class=\"token punctuation\">(<\/span>ExtractorNode <span class=\"token operator\">&amp;<\/span>n1<span class=\"token punctuation\">,<\/span> ExtractorNode <span class=\"token operator\">&amp;<\/span>n2<span class=\"token punctuation\">,<\/span> ExtractorNode <span class=\"token operator\">&amp;<\/span>n3<span class=\"token punctuation\">,<\/span> ExtractorNode <span class=\"token operator\">&amp;<\/span>n4<span class=\"token punctuation\">)<\/span> <\/code><\/pre>\n<ol start=\"3\">\n<li>\u91cd\u590d\u8fc7\u7a0b2\u3002\u7ec8\u6b62\u6761\u4ef6\u4e3a\uff1anode\u7684\u603b\u6570\u91cf&gt; N_a\uff0c\u6216\u8005\u65e0\u6cd5\u518d\u8fdb\u884c\u5206\u88c2\u5373\u8282\u70b9\u7684\u6570\u91cf\u4e0d\u518d\u589e\u52a0\u3002\u7136\u540e\u4ece\u6bcf\u4e2anode\u91cc\u9762\u9009\u62e9\u4e00\u4e2a\u76f8\u5e94\u7a0b\u5ea6\u6700\u5927\u7684FAST\u70b9<\/li>\n<\/ol>\n<p><strong>\u793a\u610f\u56fe\uff1a\u5047\u8bbe\u67d0\u4e00\u5c42\u56fe\u50cf\u7684\u7279\u5f81\u70b9N=25<\/strong><br \/> <strong>Step1:\u53ea\u67091\u4e2anode<\/strong><br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/39c0eb1223ea4064a8c392b55db426ad.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c3\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c3\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<p><strong>Step2:\u7b2c\u4e00\u6b21\u5206\u88c2<\/strong><br \/> (1)1\u4e2anode\u5206\u88c2\u4e3a4\u4e2anode<br \/> (2)node\u6570\u91cf4&lt;25\uff0c\u8fd8\u8981\u7ee7\u7eed\u5206\u88c2<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/bd331aa5802d4251a75ab89333214947.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c4\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c4\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<p><strong>Step3:\u7b2c\u4e8c\u6b21\u5206\u88c2<\/strong><br \/> (1)4\u4e2anode\u5206\u88c2\u621015\u4e2anode,\u56e0\u4e3a\u5176\u4e2d\u4e00\u4e2anode\u6ca1\u6709\u70b9\u6240\u4ee5\u5220\u9664\u8be5node<br \/> (2)node\u6570\u91cf16&lt;25\uff0c\u8fd8\u8981\u7ee7\u7eed\u5206\u88c2<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/81b923d4c30c44cba3eccf5f3768c4c6.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c5\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c5\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<p><strong>Step4:\u7b2c\u4e09\u6b21\u5206\u88c2<\/strong><br \/> (1)15\u4e2anode\u5206\u88c2\u4e3a30\u4e2anode\uff0c\u5220\u6389\u4e86\u6ca1\u6709\u7279\u5f81\u70b9\u7684node<br \/> (2)node\u6570\u91cf30&gt;25\uff0c\u505c\u6b62\u5206\u88c2<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/429575727f064269bd3976ee5c4172ee.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c6\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c6\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<p><strong>Step5:\u4ece\u6bcf\u4e2anode\u4e2d\u9009\u62e9\u54cd\u5e94\u503c\u6700\u5927\u7684\u4e00\u4e2a\u70b9<\/strong><br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/e301ccbe335143a6a61d307c345bc681.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c7\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c7\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<h4>3.2.3 \u8ba1\u7b97\u7279\u5f81\u70b9\u65b9\u5411<\/h4>\n<pre class=\"language-java prettyprint linenums\"><code class=\"prism language-cpp\"><span class=\"token keyword\">static<\/span> <span class=\"token keyword\">void<\/span> <span class=\"token function\">computeOrientation<\/span><span class=\"token punctuation\">(<\/span>cv<span class=\"token double-colon punctuation\">::<\/span>Mat <span class=\"token operator\">&amp;<\/span>image<span class=\"token punctuation\">,<\/span> vector<span class=\"token operator\">&lt;<\/span>cv<span class=\"token double-colon punctuation\">::<\/span>KeyPoint<span class=\"token operator\">&gt;<\/span><span class=\"token operator\">&amp;<\/span> keypoints<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">const<\/span> vector<span class=\"token operator\">&lt;<\/span><span class=\"token keyword\">int<\/span><span class=\"token operator\">&gt;<\/span> <span class=\"token operator\">&amp;<\/span>umax<span class=\"token punctuation\">)<\/span> <span class=\"token operator\">--<\/span><span class=\"token operator\">--<\/span><span class=\"token operator\">&gt;<\/span><span class=\"token keyword\">static<\/span> <span class=\"token keyword\">float<\/span> <span class=\"token function\">IC_Angle<\/span><span class=\"token punctuation\">(<\/span><span class=\"token keyword\">const<\/span> Mat<span class=\"token operator\">&amp;<\/span> image<span class=\"token punctuation\">,<\/span> Point2f pt<span class=\"token punctuation\">,<\/span> <span class=\"token keyword\">const<\/span> vector<span class=\"token operator\">&lt;<\/span><span class=\"token keyword\">int<\/span><span class=\"token operator\">&gt;<\/span> <span class=\"token operator\">&amp;<\/span> u_max<span class=\"token punctuation\">)<\/span><span class=\"token comment\">\/\/ \u6838\u5fc3\u51fd\u6570\uff0c\u7ed9\u5b9a\u4e00\u4e2a\u7279\u5f81\u70b9\u5750\u6807\uff0c\u8ba1\u7b97\u7279\u5f81\u70b9\u65b9\u5411<\/span> <\/code><\/pre>\n<p>\u6839\u636e\u7070\u5ea6\u8d28\u5fc3\u6cd5\u8ba1\u7b97\u7279\u5f81\u70b9\u65b9\u5411\uff0c\u4ee5\u7279\u5f81\u70b9\u50cf\u7d20\u4e3a\u5706\u5fc3\uff0cHALF_PATCH_SIZE=15\u4e3a\u534a\u5f84\uff0c\u8ba1\u7b97\u5706\u578b\u533a\u57df\u5185\u50cf\u7d20\u7684\u7070\u5ea6\u8d28\u5fc3\uff0c\u8fde\u63a5\u5706\u5fc3\u4e0e\u7070\u5ea6\u8d28\u5fc3\u5373\u5f97\u5230\u7279\u5f81\u70b9\u7684\u65b9\u5411\u3002<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/185363d086054b0f992e25274ddcebfe.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c8\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c8\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<ol>\n<li>\n<p>\u5706\u5f62\u533a\u57df\u9009\u62e9<br \/> \u5728\u6784\u9020\u51fd\u6570\u4e2d\u5df2\u7ecf\u786e\u5b9a\u4e86\u5706\u5f62\u533a\u57df\u7684\u8fb9\u754c\uff0c\u5bf9\u4e8e\u6bcf\u4e00\u884c(\u5373\u6bcf\u4e00\u4e2av\u503c)\u90fd\u5b58\u5728\u4e00\u4e2a\u5217\u5750\u6807\u8fb9\u754c\u503c\uff0c\u5177\u4f53\u89c1<code>## 2.\u6784\u9020\u51fd\u6570<\/code>\u90e8\u5206\u3002<\/p>\n<\/li>\n<li>\n<p>\u5173\u952e\u70b9\u65b9\u5411\u8ba1\u7b97<\/p>\n<ol>\n<li>\u7b80\u5355\u7684\u6765\u8bf4\u5206\u522b\u6c42\u5f97\u5706\u5f62\u533a\u57df\u5185\u6240\u6709\u50cf\u7d20\u7684\u7070\u5ea6\u503c\u603b\u548cm00\uff0c\u56fe\u50cf\u6cbfx\u65b9\u5411\u7684\u77e9m10,\u56fe\u50cf\u6cbfy\u65b9\u5411\u7684\u77e9m01<\/li>\n<li>\u6839\u636e\u516c\u5f0f\u53ef\u4ee5\u8ba1\u7b97\u5f97\u5230\u8be5\u5706\u5f62\u533a\u57df\u7684\u7070\u5ea6\u8d28\u5fc3C=(cx,cy)<\/li>\n<li>\u7279\u5f81\u70b9\u7684\u65b9\u5411\u5c31\u662f\u5411\u91cfOC\u7684\u65b9\u5411<\/li>\n<\/ol>\n<\/li>\n<\/ol>\n<p><img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/01e8b2490d4240d889941530d20dc067.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c9\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c9\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<p><strong>\u4ee3\u7801\u4e2d\u7684\u8ba1\u7b97\u6280\u5de7\uff1a<\/strong><br \/> \u5728\u8ba1\u7b97\u5706\u5f62\u533a\u57df\u7684\u8fb9\u754c\u65f6\u53ef\u4ee5\u77e5\u9053\uff0c\u5173\u4e8e\u7279\u5f81\u70b9\u5468\u56f4\u5706\u5f62\u533a\u57df\u7684\u8fb9\u754c\u662f\u5173\u4e8ex\u8f74\u5bf9\u79f0\u7684\uff0c\u56e0\u6b64\u5728\u4ee3\u7801\u5b9e\u73b0\u65f6\u91c7\u7528\u4e86\u4e00\u4e2a\u5c0f\u6280\u5de7\uff0c\u4e00\u6b21\u6027\u53ef\u4ee5\u8ba1\u7b97\u5173\u4e8ex\u8f74\u5bf9\u79f0\u7684\u4e24\u884c\u50cf\u7d20\u7684\u77e9\uff1a<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/71ae5bed6a3e46f7b497f5a90cb05463.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c10\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c10\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<p>\u4e0a\u56fe\u4e2d\u76f8\u540c\u989c\u8272\u7684\u50cf\u7d20\u5e26\u8868\u793a\u5173\u4e8e\u4e2d\u5fc3\u8f74\u5bf9\u79f0\uff0c\u5047\u8bbe\u5bf9\u4e8e\u67d0\u5bf9\u5bf9\u79f0\u7684\u50cf\u7d20\uff0c\u5176\u5750\u6807\u4e3a[u,v],[u,-v]\uff0c\u5219\u53ef\u4ee5\u5206\u522b\u8ba1\u7b97\u4ed6\u4eec\u5728x\u548cy\u65b9\u5411\u4e0a\u7684\u77e9<\/p>\n<p>x\u65b9\u5411\uff1a<code>m_10 = u * I(u,v) + u * I(u,-v) = u * (I(u,v) + I(u,-v))<\/code><br \/> y\u65b9\u5411\uff1a<code>m_01 = v * I(u,v) + (-v) * I(u,-v) = v* (I(u,v) - I(u,-v))<\/code><\/p>\n<p>\u8fd9\u6837\u904d\u5386\u5706\u5f62\u533a\u57df\u4e0a\u534a\u90e8\u5206\u6240\u6709\u884c\u5373\u53ef\u8ba1\u7b97\u6574\u4e2a\u5706\u5f62\u533a\u57df\u56fe\u50cf\u5728x\u65b9\u5411\u548cy\u65b9\u5411\u4e0a\u7684\u77e9,\u6574\u4f53\u4e0a\u51cf\u5c11\u4e86\u4e00\u534a\u7684\u904d\u5386\u65f6\u95f4<\/p>\n<p><strong>\u4e3a\u4ec0\u4e48\u9009\u62e9\u8ba1\u7b97\u5706\u5f62\u533a\u57df\u56fe\u50cf\u7684\u77e9\u8ba1\u7b97\u7279\u5f81\u70b9\u65b9\u5411<\/strong><br \/> \u5bf9\u4e8e\u540c\u4e00\u7279\u5f81\u70b9\u5728\u4e0d\u540c\u56fe\u50cf\u4e2d\u7684\u65b9\u5411\u6216\u8005\u63cf\u8ff0\u5b50\u8ba1\u7b97\uff0c\u9700\u8981\u5c3d\u53ef\u80fd\u7684\u9009\u62e9\u5bf9\u7edf\u4e00\u5757\u533a\u57df\u7684\u50cf\u7d20\u8fdb\u884c\u5904\u7406\uff0c\u4fdd\u8bc1\u540c\u4e00\u4f4d\u7f6e\u7279\u5f81\u70b9\u7684\u5c5e\u6027\u76f8\u540c\uff0c\u5982\u679c\u9009\u62e9\u6b63\u65b9\u5f62\u533a\u57df\u4f1a\u5bfc\u81f4\u91c7\u96c6\u70b9\u7684\u65f6\u5019\u7eff\u8272\u548c\u9ec4\u8272\u90e8\u5206\u4e0d\u662f\u76f8\u540c\u7684\u50cf\u7d20<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/8f24a6a822ef42218fcc2f2c76ec868d.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c11\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c11\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<h3>3.3 \u8ba1\u7b97\u7279\u5f81\u70b9\u7684\u63cf\u8ff0\u5b50<\/h3>\n<p>\u5728ORBSLAM\u7cfb\u5217\u4e2d\u8fd8\u8003\u8651\u5230\u4e86BRIEF\u7684\u65cb\u8f6c\u6027\uff0c\u57fa\u4e8e\u63cf\u8ff0\u5b50\u8ba1\u7b97\u4e24\u5e27\u56fe\u50cf\u4e4b\u95f4\u7684\u7279\u5f81\u5339\u914d\u7684\u672c\u8d28\u5c31\u662f\u6bd4\u8f83\u5bf9\u5e94\u7279\u5f81\u70b9\u5468\u56f4\u50cf\u7d20\u4e4b\u95f4\u7684\u7070\u5ea6\u503c\u5dee\u5f02\uff0c\u5f53\u76f8\u673a\u53d1\u751f\u65cb\u8f6c\u65f6\uff0c\u56fe\u50cf\u5185\u7279\u5f81\u70b9\u5468\u56f4\u7684\u50cf\u7d20\u4e5f\u4f1a\u53d1\u751f\u76f8\u5e94\u7684\u65cb\u8f6c\uff0c\u56e0\u6b64\u5728\u8fdb\u884c\u6bd4\u8f83\u65f6\u9700\u8981\u5c06\u7279\u5f81\u70b9\u5468\u56f4\u7684\u50cf\u7d20\u5757\u65cb\u8f6c\u76f8\u540c\u7684\u65b9\u5411\uff0c\u4f7f\u5f97\u8fdb\u884c\u6bd4\u8f83\u7684\u4e24\u4e2a\u50cf\u7d20\u5757\u662f\u540c\u4e00\u5757\u533a\u57df\u3002<\/p>\n<h4>3.3.1 BRIEF\u63cf\u8ff0\u5b50\u7b80\u4ecb<\/h4>\n<p>BRIEF\u662f\u4e00\u4e2a\u4e8c\u8fdb\u5236\u7684\u63cf\u8ff0\u5b50\uff0c\u8ba1\u7b97\u548c\u5339\u914d\u7684\u901f\u5ea6\u90fd\u5f88\u5feb\u3002\u8ba1\u7b97\u6b65\u9aa4\u5982\u4e0b\uff1a<br \/> (1)\u4ee5\u5173\u952e\u70b9\u4e3a\u4e2d\u5fc3\uff0c\u9009\u62e9\u4e00\u4e2a31\u00d731\u7684\u50cf\u7d20\u5757<br \/> (2)\u5728\u8fd9\u4e2a\u5757\u5185\u6309\u7167\u4e00\u5b9a\u7684\u65b9\u6cd5\u9009\u62e9N\u5bf9\u70b9\uff0cN\u4e00\u822c\u53d6256,\u8fd9\u91cc\u7684\u65b9\u6cd5\u4e00\u822c\u662f\u63d0\u524d\u901a\u8fc7\u5b66\u4e60\u9009\u62e9\u7684\u6548\u679c\u6700\u597d\u7684256\u7ec4\u4f4d\u7f6e<br \/> (3)\u5bf9\u4e8e\u70b9\u5bf9{A,B},\u901a\u8fc7\u6bd4\u8f83\u8fd9\u4e24\u4e2a\u70b9\u7684\u7070\u5ea6\u5927\u5c0f\u786e\u5b9a\u4e00\u4e2a\u4e8c\u503c\u7ed3\u679c\uff0c0\u6216\u80051.<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/426789612ded4000b4e60d2d2a02db3c.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c12\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c12\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<p>(4)\u8fd9\u6837\u628a256\u4e2a\u70b9\u5bf9\u7684\u7ed3\u679c\u6392\u8d77\u6765\uff0c\u5c31\u5f62\u6210\u4e86BRIEF\u63cf\u8ff0\u5b50\u3002<br \/> <code>[1 0 1 0 0 ... 1 0 0]<\/code><\/p>\n<p>BRIEF\u7684\u5339\u914d\u91c7\u7528\u6c49\u660e\u8ddd\u79bb\uff0c\u975e\u5e38\u5feb\uff0c\u7b80\u5355\u8bf4\u5c31\u662f\u770b\u4e00\u4e0b\u4e0d\u76f8\u540c\u7684\u4f4d\u6570\u6709\u591a\u5c11\u4e2a\u3002\u5982\u4e0b\u7684\u4e24\u4e2a\u63cf\u8ff0\u5b50\uff0c\u4e0d\u540c\u7684\u4f4d\u6570\u4e3a4\u3002\u5b9e\u9645\u4e0a\u6211\u4eec\u9009\u62e9\u7684\u70b9\u5bf9\u6570\u4e3a256\uff0c\u90a3\u4e48\u8ddd\u79bb\u8303\u56f4\u5c31\u662f0~256\u3002<br \/> <code>[1 0 1 1 1 0]<\/code><br \/> <code>[1 1 0 0 1 1]<\/code><\/p>\n<h4>3.3.2 Steered BRIEF<\/h4>\n<p>\u601d\u60f3\u7b80\u8ff0\uff1a\u4e0d\u7ba1\u662f\u8ba1\u7b97\u7279\u5f81\u70b9\u7684\u65b9\u5411\u8fd8\u662f\u8ba1\u7b97\u63cf\u8ff0\u5b50\u7684\u65b9\u5411\uff0c\u6700\u7ec8\u7684\u76ee\u7684\u662f\u4e3a\u4e86\u66f4\u52a0\u51c6\u786e\u7684\u5339\u914d\u4e0a\u4e24\u5f20\u56fe\u50cf\u4e2d\u5bf9\u5e94\u7684\u7279\u5f81\u70b9\uff0c\u5339\u914d\u7684\u4f9d\u636e\u5219\u662f\u901a\u8fc7\u63cf\u8ff0\u5b50\u8fdb\u884c\u5224\u65ad\u3002\u4e24\u4e2a\u7279\u5f81\u70b9\u5468\u56f4\u7684\u50cf\u7d20\u4fe1\u606f\u5206\u5e03\u76f8\u5dee\u8d8a\u5c0f\uff0c\u63cf\u8ff0\u5b50\u8ddd\u79bb\u5c31\u8d8a\u5c0f\uff0c\u4e24\u4e2a\u7279\u5f81\u70b9\u662fgoodMatch\u7684\u53ef\u80fd\u6027\u5c31\u8d8a\u9ad8\u3002<\/p>\n<p>\u8fd9\u6837\uff0c\u5224\u65ad\u4e24\u4e2a\u7279\u5f81\u70b9\u662f\u5426\u5339\u914d\u7684\u95ee\u9898\u5c31\u8f6c\u5316\u6210\u8ba1\u7b97\u7279\u5f81\u70b9\u5468\u56f4\u50cf\u7d20\u5206\u5e03\u60c5\u51b5\u5dee\u5f02\u7684\u95ee\u9898\uff0c\u7136\u540e\u5c31\u53c8\u8f6c\u5316\u4e3a\u5bf9\u5468\u56f4\u50cf\u7d20\u7684\u9009\u53d6\u4ee5\u53ca\u8fd9\u79cd\u5dee\u5f02\u6027\u8ba1\u7b97\u65b9\u5f0f\u7684\u8bbe\u8ba1\u3002<\/p>\n<p>\u5bf9\u4e8eBRIEF\u63cf\u8ff0\u5b50\u6765\u8bf4\uff0c\u8ba1\u7b97\u65b9\u5f0f\u5c31\u662f\u8ba1\u7b97\u6c49\u660e\u8ddd\u79bb\uff0c\u70b9\u5bf9\u7684\u9009\u62e9\u4e0a\u9762\u4e5f\u63d0\u5230\u4e86\u4f7f\u7528\u5b66\u4e60\u7684\u65b9\u6cd5\u8fdb\u884c\u8bbe\u8ba1\uff0c\u73b0\u5728\u5c31\u5269\u4e0b\u4e00\u4e2a\u95ee\u9898\u4e86\uff0c\u600e\u4e48\u786e\u5b9a\u53c2\u4e0e\u6bd4\u8f83\u7684\u7279\u5f81\u70b9\u5468\u56f4\u7684\u50cf\u7d20\u3002<\/p>\n<p>BRIEF\u628a\u5173\u952e\u70b9\"\u5468\u56f4\u50cf\u7d20\"\u6210\u4e3a\u4e00\u4e2a\u50cf\u7d20\u5feb<code>patch<\/code>\uff0c\u5982\u679c\u4e0d\u8003\u8651\u65cb\u8f6c\u5219\u9009\u62e9patch\u5c31\u7b80\u5355\u4e86\uff0c\u76f4\u63a5\u4ee5\u7279\u5f81\u70b9\u50cf\u7d20\u5750\u6807\u4e3a\u4e2d\u5fc3\uff0c\u9009\u62e9\u957f\u548c\u5bbd\u56fa\u5b9a\u7684\u4e00\u4e2a<code>patch<\/code>\u5c31\u53ef\u4ee5\u4e86\uff0c\u5982\u4e0b\u56fe\u6240\u793a\u3002<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/f1f0aaff169041acba70e253b1b6bf40.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c13\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c13\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<p>\u4f46\u662f\u5b58\u5728\u4e00\u4e2a\u95ee\u9898\uff0c\u968f\u7740\u76f8\u673a\u8fd0\u52a8\uff0c\u7279\u5f81\u70b9\u5728x\u65b9\u5411\u548cy\u65b9\u5411\u4e0a\u7684\u50cf\u7d20\u4f1a\u53d1\u751f\u53d8\u5316\uff0c\u8fd9\u6837\u9009\u53d6\u7684\u56fe\u50cf\u5757\u4e2d\u7684\u50cf\u7d20\u4e5f\u4f1a\u53d1\u751f\u5f88\u5927\u7684\u53d8\u5316\uff0c\u5982\u540c\u4e0a\u56fe\u7684<code>PATCH1<\/code>\u548c<code>PATCH2<\/code>\uff0c\u5982\u679c\u62ff\u8fd9\u4e24\u4e2a\u50cf\u7d20\u5feb\u53bb\u8ba1\u7b97\u79d2\u7d20\u5b50\u8ddd\u79bb\uff0c\u80af\u5b9a\u4f1a\u6709\u6bd4\u8f83\u5927\u7684\u5dee\u5f02\u3002<\/p>\n<p>\u57fa\u4e8e\u8fd9\u4e00\u73b0\u8c61\uff0crBRIEF\u5728\u539f\u6765\u7684\u57fa\u7840\u4e0a\u589e\u52a0\u4e86\u65cb\u8f6c\u7684\u4fe1\u606f\uff0c\u5c31\u662f\u5f53\u56fe\u50cf\u53d1\u751f\u65cb\u8f6c\u4e86\uff0c\u7279\u5f81\u70b9\u7684\u65b9\u5411\u80af\u5b9a\u53d1\u751f\u65cb\u8f6c\uff0c\u9009\u53d6\u7684\u7684\u56fe\u50cf\u5757\u8303\u56f4\u4e5f\u7ed9\u4ed6\u6574\u4f53\u8fdb\u884c\u4e00\u4e2a\u65cb\u8f6c\uff0c\u5c31\u53d8\u6210\u4e86\u4e0b\u56fe\u6240\u793a\u3002<br \/> \u4f7f\u7528<code>PATCH1\u2019<\/code>\u4e2d\u7684\u50cf\u7d20\u548c<code>PATCH2<\/code>\u4e2d\u7684\u50cf\u7d20\u8fdb\u884c\u6bd4\u8f83\u3002<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/2f9b3618c7434c18928a114abb38ae36.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c14\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c14\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<p>BRIEF\u7684\u65cb\u8f6c\u4e0d\u53d8\u6027\u539f\u7406\u5927\u81f4\u662f\u8fd9\u6837\u4e86\uff0c\u4e0b\u9762\u770b\u4e00\u4e0b\u5177\u4f53\u7684\u5b9e\u73b0\u3002<\/p>\n<p>BRIEF\u63cf\u8ff0\u5b50\u662f\u6ca1\u6709\u8003\u8651\u65cb\u8f6c\u4e0d\u53d8\u6027\u7684\uff0cSteered BRIEF\u6839\u636eOriented FAST\u8ba1\u7b97\u51fa\u7684\u89d2\u5ea6\uff0c\u628a\u539f\u59cb\u7684256\u4e2a\u70b9\u5bf9\u7684\u5750\u6807\u65cb\u8f6c\u4e4b\u540e\uff0c\u518d\u53d6\u7070\u5ea6\u3002\u4ece\u800c\u5b9e\u73b0\u4e86\u65cb\u8f6c\u4e0d\u53d8\u6027\u3002<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/f2c7c05d491f4f0b8367f1c32ded297e.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c15\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c15\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<p>\u539f\u59cb\u7684256\u4e2a\u70b9\u5bf9\u5750\u6807\u4e3a<code>S<\/code>\uff0c\u65cb\u8f6c\u540e\u7684\u4e3a<code>S_\u03b8<\/code><\/p>\n<p>\u5177\u4f53\u5b9e\u73b0\u4ee3\u7801\uff1a<\/p>\n<pre class=\"language-java prettyprint linenums\"><code class=\"prism language-cpp\"><span class=\"token comment\">\/\/ \u5728\u7279\u5f81\u63d0\u53d6\u7684\u6700\u540e\uff0c\u4f1a\u5728computeOrientation\u51fd\u6570\u4e2d\u8ba1\u7b97\u7279\u5f81\u70b9\u7684\u89d2\u5ea6<\/span> <span class=\"token keyword\">float<\/span> angle <span class=\"token operator\">=<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span>kpt<span class=\"token punctuation\">.<\/span>angle<span class=\"token operator\">*<\/span>factorPI<span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/ \u5c06\u89d2\u5ea6\u8f6c\u6362\u4e3a\u5f27\u5ea6<\/span> <span class=\"token keyword\">float<\/span> a <span class=\"token operator\">=<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span><span class=\"token function\">cos<\/span><span class=\"token punctuation\">(<\/span>angle<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> b <span class=\"token operator\">=<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">float<\/span><span class=\"token punctuation\">)<\/span><span class=\"token function\">sin<\/span><span class=\"token punctuation\">(<\/span>angle<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span><span class=\"token comment\">\/\/ \u8ba1\u7b97\u4f59\u5f26\u503c\u4e0e\u6b63\u5f26\u503c<\/span> <span class=\"token comment\">\/\/ \u548c\u4e4b\u524d\u4e00\u6837\uff0c\u8fd9\u91cc\u83b7\u53d6\u7684\u662f\u4e00\u4e2a\u6307\u5411\u7279\u5f81\u70b9\u50cf\u7d20\u7684uchar\u7c7b\u578b\u7684\u6307\u9488\uff0c\u5e76\u975e\u662f\u7279\u5f81\u70b9\u6240\u5bf9\u5e94\u50cf\u7d20\u7684\u7070\u5ea6\u503c\uff0c\u9700\u8981\u6ce8\u610f<\/span> <span class=\"token comment\">\/\/ \u5982\u679c\u628aimg\u524d\u9762\u7684\u53d6\u5730\u5740\u7b26&amp;\u53bb\u6389\uff0c\u83b7\u53d6\u7684\u5c31\u662f\u8be5\u4f4d\u7f6e\u5bf9\u5e94\u7684\u7070\u5ea6\u503c\u4e86<\/span> <span class=\"token comment\">\/\/ \u6362\u53e5\u8bdd\u8bf4\u662f\u53ef\u4ee5\u5bf9center\u8fdb\u884c\u7d22\u5f15\u64cd\u4f5c\u83b7\u53d6\u5176\u5b83\u5143\u7d20\u7684\u503c\u7684\uff0c\u8fd9\u5728\u4e0b\u9762\u5b9a\u4e49\u7684\u5b8f\u4e2d\u5c31\u6709\u4f53\u73b0<\/span> <span class=\"token keyword\">const<\/span> uchar<span class=\"token operator\">*<\/span> center <span class=\"token operator\">=<\/span> <span class=\"token operator\">&amp;<\/span>img<span class=\"token punctuation\">.<\/span><span class=\"token generic-function\"><span class=\"token function\">at<\/span><span class=\"token generic class-name\"><span class=\"token operator\">&lt;<\/span>uchar<span class=\"token operator\">&gt;<\/span><\/span><\/span><span class=\"token punctuation\">(<\/span><span class=\"token function\">cvRound<\/span><span class=\"token punctuation\">(<\/span>kpt<span class=\"token punctuation\">.<\/span>pt<span class=\"token punctuation\">.<\/span>y<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">,<\/span> <span class=\"token function\">cvRound<\/span><span class=\"token punctuation\">(<\/span>kpt<span class=\"token punctuation\">.<\/span>pt<span class=\"token punctuation\">.<\/span>x<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u8fd9\u91cc\u7684step\u662fMat\u7684\u5c5e\u6027\u4e4b\u4e00\uff0c\u8868\u793a\u4e00\u4e2a\u6570\u636e\u6240\u5360\u5b57\u8282\u957f\u5ea6\uff0c\u65b9\u4fbf\u540e\u9762\u8fed\u4ee3\u65f6\u5019\u8df3\u8fc7\u6307\u5b9a\u6b65\u957f<\/span> <span class=\"token comment\">\/\/ \u4f8b\u5982\u4e00\u4e2a\u5355\u901a\u9053\u7070\u5ea6\u5f71\u50cf\u4e00\u4e2a\u50cf\u7d20\u503c\u5728\u6211\u8fd9\u91cc\u5b57\u8282\u957f\u5ea6\u662f700,\u800cRGB\u5f71\u50cf\u4e00\u4e2a\u50cf\u7d20\u7684\u957f\u5ea6\u662f2100<\/span> <span class=\"token keyword\">const<\/span> <span class=\"token keyword\">int<\/span> step <span class=\"token operator\">=<\/span> <span class=\"token punctuation\">(<\/span><span class=\"token keyword\">int<\/span><span class=\"token punctuation\">)<\/span>img<span class=\"token punctuation\">.<\/span>step<span class=\"token punctuation\">;<\/span> <span class=\"token comment\">\/\/ \u8fd9\u91cc\u5b9a\u4e49\u4e86\u4e00\u4e2a\u5b8f\uff0c\u7528\u4e8e\u540e\u7eed\u8ba1\u7b97\u7684\u65b9\u4fbf<\/span> <span class=\"token comment\">\/\/ \u8fd9\u91cc\u7684center\u5c31\u662f\u4e0a\u9762\u83b7\u53d6\u7684uchar\u7684\u6307\u9488\uff0c\u800cpattern\u5c31\u662f\u4f20\u5165\u7684\u53c2\u6570<\/span> <span class=\"token comment\">\/\/ \u8fd9\u91cc\u9762\u4e00\u957f\u4e32\u5176\u5b9e\u90fd\u662f\u5728\u8ba1\u7b97\u7d22\u5f15\uff0c\u800c\u5bf9center\u53d6\u7d22\u5f15\u83b7\u53d6\u5230\u7684\u5c31\u662f\u8be5\u7d22\u5f15(\u4f4d\u7f6e)\u6240\u5bf9\u5e94\u7684\u7070\u5ea6\u503c<\/span> <span class=\"token comment\">\/\/ \u50cf\u7d20\u4f4d\u7f6e = \u884c\u7684\u503c\u00d7\u6bcf\u884c\u7684\u5b57\u8282\u6570 + \u5217\u7684\u503c<\/span> <span class=\"token macro property\"><span class=\"token directive-hash\">#<\/span><span class=\"token directive keyword\">define<\/span> <span class=\"token macro-name function\">GET_VALUE<\/span><span class=\"token expression\"><span class=\"token punctuation\">(<\/span>idx<span class=\"token punctuation\">)<\/span> center<span class=\"token punctuation\">[<\/span><span class=\"token function\">cvRound<\/span><span class=\"token punctuation\">(<\/span>pattern<span class=\"token punctuation\">[<\/span>idx<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">.<\/span>x<span class=\"token operator\">*<\/span>b <span class=\"token operator\">+<\/span> pattern<span class=\"token punctuation\">[<\/span>idx<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">.<\/span>y<span class=\"token operator\">*<\/span>a<span class=\"token punctuation\">)<\/span><span class=\"token operator\">*<\/span>step <span class=\"token operator\">+<\/span> <span class=\"token function\">cvRound<\/span><span class=\"token punctuation\">(<\/span>pattern<span class=\"token punctuation\">[<\/span>idx<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">.<\/span>x<span class=\"token operator\">*<\/span>a <span class=\"token operator\">-<\/span> pattern<span class=\"token punctuation\">[<\/span>idx<span class=\"token punctuation\">]<\/span><span class=\"token punctuation\">.<\/span>y<span class=\"token operator\">*<\/span>b<span class=\"token punctuation\">)<\/span><span class=\"token punctuation\">]<\/span><\/span><\/span> <\/code><\/pre>\n<p>\u9700\u8981\u8ba1\u7b97\u7684\u50cf\u7d20\u70b9\u4f4d\u7f6e\u5728\u65cb\u8f6c\u524d\u540e\u7684\u5bf9\u5e94\u5173\u7cfb\u5982\u4e0b\u56fe\u6240\u793a\uff0c\u5373\u50cf\u7d20\u7684\u5750\u6807\u8ddf\u7740\u65cb\u8f6c\u4e86\u4e00\u4e2a\u7279\u5f81\u70b9\u65b9\u5411\u3002<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/fcc9a1c3ed44435abd8e1aa1896152d2.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c16\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c16\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<p>\u7b26\u53f7\u8bf4\u660e\uff1a<\/p>\n<pre class=\"language-java prettyprint linenums\"><code>-\u03b8:\u5173\u952e\u70b9\u7684\u89d2\u5ea6 -\u03c6\uff1a\u50cf\u7d20\u5757\u4e2d\u67d0\u4e2a\u50cf\u7d20\u5728\u65cb\u8f6c\u524d\u4e0ex\u8f74\u5939\u89d2 -r:\u50cf\u7d20\u5757\u5230\u539f\u70b9\u7684\u8ddd\u79bb -p(x,y):\u65cb\u8f6c\u524d\u50cf\u7d20\u70b9\u5750\u6807 -p'(x,y):\u65cb\u8f6c\u540e\u50cf\u7d20\u70b9\u5750\u6807 <\/code><\/pre>\n<p>\u73b0\u5728\u5c31\u53d8\u6210\u4e86\u5df2\u77e5<code>\u03b8\uff0cp(x,y)<\/code>\u6c42<code>p'(x,y)<\/code>\uff0c\u63a8\u5bfc\u516c\u5f0f\u5982\u4e0b\uff1a<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/a3a85f81b0154e15b199c1f75633edfc.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c17\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c17\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<p><img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/908ffb8560b241e19089177a85a4dd08.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c18\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c18\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><\/p>\n<h2>4.\u8fd4\u56de\u503c<\/h2>\n<p>\u5728\u8ba1\u7b97\u7279\u5f81\u70b9\u548c\u63cf\u8ff0\u5b50\u540e\uff0c\u9700\u8981\u5c06\u7279\u5f81\u70b9\u548c\u63cf\u8ff0\u5b50\u7684\u7d22\u5f15\u8fdb\u884c\u4e00\u4e00\u5bf9\u5e94\u3002<\/p>\n<p>\u7279\u5f81\u70b9\u6700\u540e\u7684\u8fd4\u56de\u5f62\u5f0f\u662f\u4e00\u4e2a<code>cv::KeyPoint<\/code>\u7c7b\u578b\u7684vector,\u63cf\u8ff0\u5b50\u6700\u7ec8\u8fd4\u56de\u7684\u5f62\u5f0f\u662f\u4e00\u4e2a<code>nkeys<\/code>\u884c\uff0c32\u5217\uff0c\u6bcf\u5217\u53608\u4e2a\u5b57\u8282\u7684<code>cv::Mat<\/code><\/p>\n<h2>5.\u4e00\u70b9\u62d3\u5c55\u548c\u601d\u8003<\/h2>\n<p>\u5728ORBSLAM3\u4e2d\uff0c\u57fa\u4e8eROS\u53d1\u5e03\u7684\u4f4d\u59ff\u662f\u76f4\u63a5\u4eceTracking\u4e2d\u62ff\u5230\u7684\uff0c\u901a\u8fc7\u65f6\u95f4\u7edf\u8ba1Tracking\u7684\u8017\u65f6\u4e3b\u8981\u5728ORB\u7279\u5f81\u68c0\u6d4b\u90e8\u5206\u3002\u56e0\u4e3a\u7279\u5f81\u68c0\u6d4b\u662f\u57288\u5c42\u91d1\u5b57\u5854\u56fe\u50cf\u4e0a\u4f9d\u6b21\u904d\u5386\uff0c\u6240\u4ee5\u53ef\u4ee5\u4f7f\u7528\u5e76\u884c\u7ebf\u7a0b\u540c\u65f6\u5bf98\u5c42\u91d1\u5b57\u5854\u8fdb\u884c\u5904\u7406\uff0c\u4f46\u7ed3\u679c\u5dee\u5f3a\u4eba\u610f\u3002<\/p>\n<p>\u7ecf\u7edf\u8ba1\uff0c\u5728\u81ea\u5df1\u7684\u5de5\u4f5c\u7ad9\u4e0a\u5728\u5355\u76ee\u6a21\u5f0f\u4e0b\u7684\u8017\u65f6\u7edf\u8ba1\u5982\u4e0b\uff1a<br \/> <img decoding=\"async\" src=\"https:\/\/img-blog.csdnimg.cn\/2a371977c5964ff5b56779a8c94a1641.png#pic_center\" =\"\" =\"\u5728\u8fd9\u91cc\u63d2\u5165\u56fe\u7247\u63cf\u8ff0\" alt=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81 (https:\/\/mushiming.com\/)  \u7b2c19\u5f20\" title=\"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81  \u7b2c19\u5f20-\u7a46\u4e16\u660e\u535a\u5ba2\" ><br \/> \u53ef\u4ee5\u770b\u5230\uff0c\u8ddf\u8e2a\u603b\u65f6\u95f4\u4e0d\u964d\u5374\u5347\u5148\u4e0d\u8bf4\uff0c\u7279\u5f81\u68c0\u6d4b\u90e8\u5206\u5e76\u884c\u5316\u5904\u7406\u5e76\u6ca1\u6709\u660e\u663e\u63d0\u5347\u68c0\u6d4b\u901f\u5ea6\u3002\u7ecf\u6d4b\u8bd5\uff0c\u662f\u56e0\u4e3a\u7ebf\u7a0b\u9891\u7e41\u521b\u5efa\u548c\u9500\u6bc1\u4ea7\u751f\u7684\u65f6\u95f4\u5f00\u9500\u548c\u5e76\u884c\u5316\u8282\u7701\u7684\u65f6\u95f4\u5dee\u4e0d\u591a\uff0c\u56e0\u6b64\u6ca1\u6709\u8fbe\u5230\u7406\u60f3\u6548\u679c\u3002<\/p>\n<p>\u6709\u8fc7\u6d4b\u8bd5\uff0c\u5728\u7279\u5f81\u63d0\u53d6\u6a21\u5757\uff0c\u5bf9\u6bcf\u5c42\u91d1\u5b57\u5854\u5904\u7406\u65f6\u5f3a\u5236\u7761\u77201s\uff0c\u7ed3\u679c\u5e76\u884c\u8bdd\u7279\u5f81\u68c0\u6d4b\u5927\u6982\u82b1\u8d391s+\u5de6\u53f3\uff0c\u4e32\u884c\u5374\u82b1\u8d39\u4e868s+\uff0c\u53ef\u89c1\u5e76\u884c\u5316\u5904\u7406\u662f\u8d77\u4e86\u4f5c\u7528\u7684\uff0c\u4f46\u662f\u539f\u672c\u65f6\u95f4\u5f00\u9500\u5c31\u6bd4\u8f83\u5c11\u4e86\uff0c\u5728\u8fd9\u91cc\u8d77\u5230\u7684\u4f5c\u7528\u4e0d\u5927\u3002<\/p>\n<p><strong>\u53e6\uff0c\u4e00\u70b9\u5176\u4ed6\u7684\u6539\u8fdb\u601d\u8def\uff1a<\/strong><br \/> \u6709\u4e2a\u8bbe\u60f3\uff0c\u53ef\u4ee5\u50cf\u56de\u73af\u68c0\u6d4b\uff0c\u5c40\u90e8\u5efa\u56fe\u7ebf\u7a0b\u90a3\u6837\u5728SLAM\u7cfb\u7edf\u521d\u59cb\u5316\u65f6\u521b\u5efa\u4e00\u4e2a\u7ebf\u7a0b\u6c60\uff0c\u7b49\u5f85\u56fe\u50cf\u8f93\u5165\u8fdb\u6765\uff0c\u8fd9\u6837\u7ebf\u7a0b\u53ea\u9700\u8981\u521b\u5efa\u4e00\u6b21\uff0c\u7cfb\u7edf\u7ed3\u675f\u65f6\u9500\u6bc1\uff0c\u4f46\u662f\u8fd9\u79cd\u65b9\u6cd5\u6709\u70b9\u6295\u673a\u53d6\u5de7\uff0c\u800c\u4e14\u4ece\u957f\u8fdc\u770bSLAM\u7b97\u6cd5\u7ec8\u7a76\u8fd8\u662f\u8981\u79fb\u690d\u5230\u5d4c\u5165\u5f0f\u6216\u8005NVIDIA\u8fb9\u7f18\u670d\u52a1\u5668\u8fd9\u79cd\u6027\u80fd\u8f83\u5dee\u7684\u8bbe\u5907\u4e0a\uff0c\u54ea\u91cc\u4f1a\u6709\u90a3\u4e48\u591aCPU\u6838\u4f9bSLAM\u4f7f\u7528\u3002<\/p>\n<p>\u56e0\u6b64\u76ee\u524d\u4ee5\u4e3a\u5e94\u8be5\u4ece\u76f4\u63a5\u6cd5\u5165\u624b\u4ece\u672c\u8d28\u4e0a\u63d0\u5347\u7279\u5f81\u68c0\u6d4b\u901f\u5ea6\uff0c\u53c2\u8003SVO\u534a\u76f4\u63a5\u6cd5\u548c\u7279\u5f81\u70b9\u6cd5\u7684\u7ed3\u5408\uff0c\u53ef\u4ee5\u8fbe\u5230\u6bd4\u8f83\u9ad8\u7684FPS\u3002<\/p>\n<p><strong>\u53e6\uff0c\u4e00\u70b9\u601d\u8def\u7684\u4e00\u70b9\u601d\u8def\uff1a<\/strong><br \/> \u518d\u626f\u8fdc\u4e00\u70b9\uff0c\u76f8\u673a\u7684FPS\u5927\u6982\u572820-30\u5de6\u53f3\uff0c\u4e5f\u5c31\u662f\u8bf4\u76f8\u90bb\u56fe\u50cf\u5e27\u4e4b\u95f4\u7684\u65f6\u95f4\u95f4\u9694\u572833ms-50ms\u5de6\u53f3\uff0c\u4e5f\u5c31\u662f\u8bf4\u666e\u901a\u7684VSLAM\u7b97\u6cd5\u8ddf\u8e2a\u4e00\u5e27\u7684\u65f6\u95f4\u5c0f\u4e8e\u5355\u5e27\u65f6\u95f4\u95f4\u9694\u5c31\u53ef\u4ee5\u6ee1\u8db3\u4f7f\u7528\u4e86\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"orb \u7279\u5f81_\u600e\u4e48\u4ece\u6570\u636e\u96c6\u4e2d\u63d0\u53d6\u7279\u5f81ORB-SLAM\u7b97\u6cd5\u4e2dORB\u7279\u5f81\u63d0\u53d6\u4e0e\u63cf\u8ff0\u5b50\u8ba1\u7b97\uff0c\u8f93\u5165\u4e00\u5f20\u56fe\u50cf\uff0c\u8fd4\u56de\u5b58\u653e\u7279\u5f81\u70b9\u7684vector\u5411\u91cf\uff0c\u5b58\u653e...","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[],"tags":[],"_links":{"self":[{"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/posts\/7580"}],"collection":[{"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/comments?post=7580"}],"version-history":[{"count":0,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/posts\/7580\/revisions"}],"wp:attachment":[{"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/media?parent=7580"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/categories?post=7580"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/mushiming.com\/wp-json\/wp\/v2\/tags?post=7580"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}