一个简单的orb视觉里程计工程

#include "orbfeatures.h" namespace ORB_SLAM2 { const int PATCH_SIZE = 31; const int HALF_PATCH_SIZE = 15; const int EDGE_THRESHOLD = 19; const float factorPI = (float)(CV_PI / 180.f); 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,