opencv中cv::GPU::ORB_GPU使用的问题

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检测出来的ORB特征点的分布是这样子的

这个主要问题在于，提取特征点的时候，FAST特征点出了问题，提取长度不够

ORB_GPU(int nFeatures, float scaleFactor, int nLevels, int edgeThreshold, int firstLevel, int WTA_K, int scoreType, int patchSize) :    nFeatures_(nFeatures), scaleFactor_(scaleFactor), nLevels_(nLevels), edgeThreshold_(edgeThreshold), firstLevel_(firstLevel), WTA_K_(WTA_K),    scoreType_(scoreType), patchSize_(patchSize), fastDetector_(DEFAULT_FAST_THRESHOLD)

源代码初始化，这里最后一项是FAST特征点，FAST的特征点定义如下，

explicit FAST_GPU(int threshold, bool nonmaxSuppression = true, double keypointsRatio = 0.05);

最后一个

keypointsRatio = 0.05;

会影响储存FAST点的长度，具体懒得找了，是0.05*1920*1080，也就10k个点，显然对于这种图不够用啊

自己定义了一个

lmw::ORB_GPU0::ORB_GPU0(int nFeatures, float scaleFactor, int nLevels, int edgeThreshold, int firstLevel, int WTA_K, int scoreType, int patchSize) :    nFeatures_(nFeatures), scaleFactor_(scaleFactor), nLevels_(nLevels), edgeThreshold_(edgeThreshold), firstLevel_(firstLevel), WTA_K_(WTA_K),    scoreType_(scoreType), patchSize_(patchSize), fastDetector_(DEFAULT_FAST_THRESHOLD, true, 0.05)

好了

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