ExtractORB

This project is to show the process of ExtractORB function in ORB-SLAM3 which is in file ORBextractor.cc.

void Frame::ExtractORB(int flag, const cv::Mat &im)

Help to understand the ORB-SLAM3 step by step.

I pull functions related as a class named ORBextractor, which contains the functions below:

ORBextractor

ComputePyramid

IC_Angle

computeOrientation

ComputeKeyPointsOctTree

DisplayImageAndKeypoints

DistributeOctTree

DivideNode

computeOrbDescriptor

computeDescriptors

operator()

Usage

1.Install Google Log and OpenCV is needed.

git clone https://github.com/google/glog
cd glog
cmake -H. -Bbuild -G "Unix Makefiles"
cmake --build build
cmake --build build --target test
cd build
sudo make install

2.Build

mkdir build
cd build
cmake ..
make -j 4

3.result