TcVnParamsORB
Offers parameters for ORB method.
Syntax
Definition:
TYPE TcVnParamsORB :
STRUCT
nMaxPoints : UDINT;
fPyramidScale : REAL;
nPyramidLevels : UDINT;
nEdgeThreshold : UDINT;
nFirstLevel : UDINT;
nBriefPoints : UDINT;
eScoreType : ETcVnFeatureScoreTypeORB;
nPatchSize : UDINT;
nFastThreshold : DINT;
END_STRUCT
END_TYPE
Parameters
|
Name |
Type |
Default |
Description |
|---|---|---|---|
|
nMaxPoints |
UDINT |
500 |
Maximum number of returned keypoints |
|
fPyramidScale |
REAL |
1.2 |
Pyramid decimation ratio (must be greater than 1, should be smaller than 2) |
|
nPyramidLevels |
UDINT |
8 |
Number of pyramid levels |
|
nEdgeThreshold |
UDINT |
31 |
Size of the border, where no features are detected (should match nPatchSize) |
|
nFirstLevel |
UDINT |
0 |
First pyramid level (currently, only 0 is supported) |
|
nBriefPoints |
UDINT |
2 |
Number of points to produce each BRIEF descriptor element (2, 3, 4) |
|
eScoreType |
TCVN_FST_ORB_HARRIS |
Score type (HARRIS is more stable but slightly slower than FAST) | |
|
nPatchSize |
UDINT |
31 |
Patch size of the BRIEF descriptor |
|
nFastThreshold |
DINT |
20 |
Threshold for the FAST keypoint detection |