【ORB_SLAM2源码解读】缩放特征点坐标到原图实现尺度不变性（14）

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        // Scale keypoint coordinates
        if (level != 0)
        {
            float scale = mvScaleFactor[level]; //getScale(level, firstLevel, scaleFactor);
            for (vector<KeyPoint>::iterator keypoint = keypoints.begin(), keypointEnd = keypoints.end(); keypoint != keypointEnd; ++keypoint)
                // 对非第0层图像中的特征点的坐标恢复到第0层图像（原图像）的坐标系下 特征点乘缩放倍数
                keypoint->pt *= scale;
        }
        // And add the keypoints to the output 将keypoints中内容插入到_keypoints 的末尾
        _keypoints.insert(_keypoints.end(), keypoints.begin(), keypoints.end());

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