[−][src]Function arrayfire::orb
pub fn orb<T>(
input: &Array<T>,
fast_thr: f32,
max_feat: u32,
scl_fctr: f32,
levels: u32,
blur_img: bool
) -> (Features, Array<T>) where
T: HasAfEnum + RealFloating,
ORB feature descriptor
Extract ORB descriptors from FAST features that hold higher Harris responses. FAST does not compute orientation, thus, orientation of features is calculated using the intensity centroid. As FAST is also not multi-scale enabled, a multi-scale pyramid is calculated by downsampling the input image multiple times followed by FAST feature detection on each scale.
Parameters
input
- the input image Arrayfast_thr
- FAST threshold for which a pixel of the circle around the central pixel is considered to be brighter or darkermax_feat
- maximum number of features to holdscl_fctr
- factor to downsample the input image, meaning that each level with hold prior level dimensions divided byscl_fctr
levels
- number of levels to be computed for the image pyramidblur_img
- blur image with a Gaussian filter with sigma=2 before computing descriptors to increase robustness against noise if true
Return Values
This function returns a tuple of Features
and Array
. The features objects composed of Arrays for x and y coordinates, score, orientation and size of selected features. The Array object is a two dimensional Array of size Nx8 where N is number of selected features.