ORB rBRIEF greedy search

asked 2016-05-16 07:20:27 -0600

USER_123 gravatar image

updated 2016-05-16 18:28:33 -0600

I am wondering if https://github.com/Itseez/opencv/blob/master/modules/features2d/src/orb.cpp#L375 is the coding implementation hardcoded result of ORB rBRIEF greedy search ?

If the answer is yes, then why its size is 256 X 4 instead of 256 X 2 since we are taking pairs of two as mentioned in ORB rublee 2011 paper ? Besides, why is N = (31-5)^2 instead of (31-5+1)^2 ?

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Thanks !

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Comments

Yes, the reference paper for ORB is the one you cited.

Maybe the size is 256 x 4 because I guess it is 256 x 2(pair of points) x 2 (x and y coordinates)? Look here.

For a 31x31 patch and a sub-window of 5x5, there should have (31-5+1)^2 possible sub-windows. Maybe it is just a typo error?

Hope it helps a little.

Eduardo gravatar imageEduardo ( 2016-05-18 06:45:52 -0600 )edit