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// Calculate the ORB descriptor based on the keypoint
//Ptr<Feature2D> orb_feat = ORB::create();
DescriptorExtractor orb_feat = DescriptorExtractor.create(DescriptorExtractor.ORB);

//Mat descriptors;
Mat descriptors = new Mat();

//we need to convert the vector<KeyPoint> to MatOfKeyPoint for Java
MatOfKeyPoint kp = new MatOfKeyPoint();
kp.fromList(keypoints);

//orb_descriptor->compute(input_thinned, keypoints, descriptors);
orb_feat.compute(input, kp, descriptors);