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ORB feature matching in pyramid

asked 2018-11-06 14:33:10 -0500

Hi there, I have a question concerning the matching of ORB features.

Since the ORB features are located on different levels of a pyramid, it’s possible that some feature point on the m-th level of the first image pyramid is matched with a point on the n-th level of the second image pyramid. Since different level have different image size, those two points have different coordinates origin. Then it doesn’t make sense to call the function cv::drawMatch() to visualize the matching, does it? Nor does it make sense to call cv::drawKeyPoints() to draw all the feature points in different levels on the raw(0th) image?

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those two points have different coordinates origin.

that's compensated, iirc.

berak gravatar imageberak ( 2018-11-07 01:39:02 -0500 )edit

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answered 2018-11-07 06:09:28 -0500

Grillteller gravatar image

Since the octaves (=levels of the pyramid) are saved in the KeyPoint structure of OpenCV matches can be correctly drawn with cv::drawMatches() in the raw image.

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Asked: 2018-11-06 14:33:10 -0500

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Last updated: Nov 06 '18