TcVnParamsORB

Offers parameters for ORB method.

Syntax

Definition:

struct TcVnParamsORB
{
    ULONG                    nMaxPoints;
    float                    fPyramidScale;
    ULONG                    nPyramidLevels;
    ULONG                    nEdgeThreshold;
    ULONG                    nFirstLevel;
    ULONG                    nBriefPoints;
    ETcVnFeatureScoreTypeORB eScoreType;
    ULONG                    nPatchSize;
    LONG                     nFastThreshold;
};

Parameters

Name

Type

Default

Description

nMaxPoints

ULONG

500

Maximum number of returned keypoints

fPyramidScale

float

1.2f

Pyramid decimation ratio (must be greater than 1, should be smaller than 2)

nPyramidLevels

ULONG

8

Number of pyramid levels

nEdgeThreshold

ULONG

31

Size of the border, where no features are detected (should match nPatchSize)

nFirstLevel

ULONG

0

First pyramid level (currently, only 0 is supported)

nBriefPoints

ULONG

2

Number of points to produce each BRIEF descriptor element (2, 3, 4)

eScoreType

ETcVnFeatureScoreTypeORB

FST_ORB_HARRIS

Score type (HARRIS is more stable but slightly slower than FAST)

nPatchSize

ULONG

31

Patch size of the BRIEF descriptor

nFastThreshold

LONG

20

Threshold for the FAST keypoint detection