ORB-SLAM2学习笔记:ExtractorNode::DivideNode和ORBextractor::DistributeOctTree函数详解
一、ExtractorNode::DivideNodevoidExtractorNode::DivideNode(ExtractorNode&n1,ExtractorNode&n2,ExtractorNode&n3,ExtractorNode&n4){constinthalfX=ceil(static_cast(UR.x-UL.x)/2);constinthalfY=ceil(static_cas