ORB-SLAM2学习笔记：ExtractorNode::DivideNode和ORBextractor::DistributeOctTree函数详解

一、ExtractorNode::DivideNode

void ExtractorNode::DivideNode(ExtractorNode &n1, ExtractorNode &n2, ExtractorNode &n3, ExtractorNode &n4)
{
   
    const int halfX = ceil(static_cast(UR.x-UL.x)/2);
    const int halfY = ceil(static_cast(BR.y-UL.y)/2);
    //Define boundaries of childs
    n1.UL = UL;
    n1.UR = cv::Point2i(UL.x+halfX,UL.y);
    n1.BL = cv::Point2i(UL.x,UL.y+halfY);
    n1.BR = cv::Point2i(UL.x+halfX,UL.y+halfY);
    n1.vKeys.reserve(vKeys.size());
    n2.UL = n1.UR;
    n2.UR = UR;
    n2.BL = n1.BR;
    n2.BR = cv::Point2i(UR.x,UL.y+halfY);
    n2.vKeys.reserve(vKeys.size());
    n3.UL = n1.BL;
    n3.UR = n1.BR;
    n3.BL = BL;
    n3.BR = cv::Point2i(n1.BR.x,BL.y);
    n3.vKeys.reserve(vKeys.size());
    n4.UL = n3.UR;
    n4.UR = n2.BR;
    n4.BL = n3.BR;
    n4.BR = BR;
    n4.vKeys.reserve(vKeys.size());
    //Associate points to childs
    for(size_t i=0;i
        const cv::KeyPoint &kp = vKeys[i];
        if(kp.pt.x
            if(kp.pt.y