The descriptor calculated by Pynq is different from software_test

[Weiyi-Zhang258]

Hello, I am trying to implement this project into ORB-SLAM2. However, the descriptor calculated by Pynq is different from software_test. I compared one same keypoint from one picture, and this is the result from Pynq.

And this is the descriptor calculated by software_test. 132 236 142 31 217 46 166 238 246 179 203 24 244 227 73 75 81 110 106 114 112 221 219 62 61 38 87 60 128 113 131 130

By calculation we can know that they are different. Is this normal? Thank you very much!

[Siudya]

Software version of ORB feature extraction uses float32 and int32 type while ORB_FPGA uses fixed point. The actual values of descriptor elements are not important. The only important thing is that the same feature porint produces the same decriptor no matter what its angleand scale is. You can run software_test in HLS and use the same data type as the hardware uses, compare the results in every steps and you will find they are nealy the same.

发件人: Weiyi-Zhang258 发送时间: 2022年7月6日 12:29 收件人: Siudya/ORB_FPGA 抄送: Subscribed 主题: [Siudya/ORB_FPGA] The descriptor calculated by Pynq is different fromsoftware_test (Issue #4)

Hello, I am trying to implement this project into ORB-SLAM2. However, the descriptor calculated by Pynq is different from software_test. I compared one same keypoint from one picture, and this is the result from Pynq.

And this is the descriptor calculated by software_test. 132 236 142 31 217 46 166 238 246 179 203 24 244 227 73 75 81 110 106 114 112 221 219 62 61 38 87 60 128 113 131 130 By calculation we can know that they are different. Is this normal? Thank you very much! — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you are subscribed to this thread.Message ID: @.***>

[Siudya]

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[Siudya]

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[Siudya]

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[Siudya]

请查收文件! (reply.github.com)

[Siudya]

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[Siudya]

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[Siudya]

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[Siudya]

 

 

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