All the modern feature detectors/descriptors/matchers I see boast to be scale invariant. I have an application where I explicitly want feature matches to occur only on the same scale. I still want multiple scales, I just want to ignore features that move from one scale to the other.
The only way I see to accomplish this with OpenCV is to use some pyramid based technique but to use only one pyramid level and to "manually" do this on multiple scales of the image. This feels like a hack and I am afraid that I would loose out on performance compared to a "native" implementation.
My question is: Is there an "official" way to do this with the OpenCV interface? Are there some modern detectors/descriptors/matchers that are explicitly scale variant? Best case scenario would be an option to just switch off the scale invariance in ORB.