Find the oriented FAST features in a GREY image.
How to add orientation to FAST is described in: http://www.gwylab.com/download/ORB_2012.pdf
Basically, the intensity centroid of the window around the corner is computed and the
orientation is given by the vector from the center to the intensity centroid.
Find the oriented FAST features in a GREY image. How to add orientation to FAST is described in: http://www.gwylab.com/download/ORB_2012.pdf Basically, the intensity centroid of the window around the corner is computed and the orientation is given by the vector from the center to the intensity centroid.