ORB rBRIEF greedy search
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 ?
Thanks !
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.