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detect_orb

yscv_imgproc

Function detect_orb 

Source 
pub fn detect_orb(
    image: &Tensor,
    config: &OrbConfig,
) -> Result<Vec<OrbFeature>, ImgProcError>
Expand description

Detect ORB features (keypoints + descriptors). Input: [H, W] grayscale f32. Returns Vec<OrbFeature>. Detect ORB features: oriented FAST keypoints + rotated BRIEF descriptors.

Input must be a single-channel [H, W, 1] image.

  1. Build an image pyramid.
  2. At each level, run FAST-9 detection.
  3. Compute orientation via the intensity centroid method.
  4. Compute rotated BRIEF descriptors.
  5. Keep top num_features by response across all levels.
  6. Scale coordinates back to the original image.