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Refactor match_descriptors and fix small bugs in ORB

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This commit is contained in:
Johannes Schönberger
2013-11-30 03:55:40 +01:00
parent 2705907270
commit f22e00e693
10 changed files with 152 additions and 317 deletions
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skimage/feature/orb.py
+4 -4
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@@ -151,7 +151,7 @@ class ORB(FeatureDetector, DescriptorExtractor):
def _extract_octave(self, octave_image, keypoints, orientations):
mask = _mask_border_keypoints(octave_image.shape, keypoints,
distance=16)
distance=20)
keypoints = np.array(keypoints[mask], dtype=np.intp, order='C',
copy=False)
orientations = np.array(orientations[mask], dtype=np.double, order='C',
@@ -260,8 +260,8 @@ class ORB(FeatureDetector, DescriptorExtractor):
descriptors, mask = self._extract_octave(octave_image, keypoints,
orientations)
keypoints_list.append(keypoints * self.downscale ** octave)
responses_list.append(responses)
keypoints_list.append(keypoints[mask] * self.downscale ** octave)
responses_list.append(responses[mask])
descriptors_list.append(descriptors)
keypoints = np.vstack(keypoints_list)
@@ -273,4 +273,4 @@ class ORB(FeatureDetector, DescriptorExtractor):
else:
# Choose best n_keypoints according to Harris corner response
best_indices = responses.argsort()[::-1][:self.n_keypoints]
return (keypoints[best_indices], descriptors[best_indices])
return keypoints[best_indices], descriptors[best_indices]