|
|
@ -470,7 +470,7 @@ ORB::ORB(size_t n_features, const CommonParams & detector_params) : |
|
|
|
{ |
|
|
|
{ |
|
|
|
// fill the extractors and descriptors for the corresponding scales
|
|
|
|
// fill the extractors and descriptors for the corresponding scales
|
|
|
|
float factor = 1.0 / params_.scale_factor_ / params_.scale_factor_; |
|
|
|
float factor = 1.0 / params_.scale_factor_ / params_.scale_factor_; |
|
|
|
int n_desired_features_per_scale = cvRound(n_features / ((std::pow(factor, params_.n_levels_) - 1) / (factor - 1))); |
|
|
|
int n_desired_features_per_scale = cvRound(n_features / ((std::pow(factor, (int)params_.n_levels_) - 1) / (factor - 1))); |
|
|
|
n_features_per_level_.resize(detector_params.n_levels_); |
|
|
|
n_features_per_level_.resize(detector_params.n_levels_); |
|
|
|
for (unsigned int level = 0; level < detector_params.n_levels_; level++) |
|
|
|
for (unsigned int level = 0; level < detector_params.n_levels_; level++) |
|
|
|
{ |
|
|
|
{ |
|
|
|