Method ComputeKeyPointsOctTree

src/ORBextractor.cc:781–896

    }

    void ORBextractor::ComputeKeyPointsOctTree(vector<vector<KeyPoint> >& allKeypoints)
    {
        allKeypoints.resize(nlevels);

        const float W = 35;

        for (int level = 0; level < nlevels; ++level)
        {
            const int minBorderX = EDGE_THRESHOLD-3;
            const int minBorderY = minBorderX;
            const int maxBorderX = mvImagePyramid[level].cols-EDGE_THRESHOLD+3;
            const int maxBorderY = mvImagePyramid[level].rows-EDGE_THRESHOLD+3;

            vector<cv::KeyPoint> vToDistributeKeys;
            vToDistributeKeys.reserve(nfeatures*10);

            const float width = (maxBorderX-minBorderX);
            const float height = (maxBorderY-minBorderY);

            const int nCols = width/W;
            const int nRows = height/W;
            const int wCell = ceil(width/nCols);
            const int hCell = ceil(height/nRows);

            for(int i=0; i<nRows; i++)
            {
                const float iniY =minBorderY+i*hCell;
                float maxY = iniY+hCell+6;

                if(iniY>=maxBorderY-3)
                    continue;
                if(maxY>maxBorderY)
                    maxY = maxBorderY;

                for(int j=0; j<nCols; j++)
                {
                    const float iniX =minBorderX+j*wCell;
                    float maxX = iniX+wCell+6;
                    if(iniX>=maxBorderX-6)
                        continue;
                    if(maxX>maxBorderX)
                        maxX = maxBorderX;

                    vector<cv::KeyPoint> vKeysCell;

                    FAST(mvImagePyramid[level].rowRange(iniY,maxY).colRange(iniX,maxX),
                         vKeysCell,iniThFAST,true);

                    /*if(bRight && j <= 13){
                        FAST(mvImagePyramid[level].rowRange(iniY,maxY).colRange(iniX,maxX),
                             vKeysCell,10,true);
                    }
                    else if(!bRight && j >= 16){
                        FAST(mvImagePyramid[level].rowRange(iniY,maxY).colRange(iniX,maxX),
                             vKeysCell,10,true);
                    }
                    else{
                        FAST(mvImagePyramid[level].rowRange(iniY,maxY).colRange(iniX,maxX),