Use subpixel precision in FAST and ORB

Rookfighter / nvision-cpp

A header-only C++ library for computer vision using Eigen3.

MIT License

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Use subpixel precision in FAST and ORB #2

Open Rookfighter opened 5 years ago

Rookfighter commented 5 years ago

Currently FAST and ORB only detect integer keypoints.

Especially ORB can also produce subpixel accurate keypoints through its image pyramid.

Rookfighter commented 5 years ago

This requires KNN search of the keypoints during non-maxima suppression. We have to find the nearest neighbours of each keypoint and only keep the one with highest score.