2

I'm learning orb-slam and opencv source code, and inside the orb.cpp which lies on modules/features2d/src/ directory I see a bit pattern named as 

bit_pattern_31_[256*4]

But I really don't know what's its usage. I search the google and bing long time without any answer given.
So any one know the usage or reference of this majic bit pattern?

wangzheqie
  • 53
  • 5

1 Answers1

0

Since I came across this on google and eventually found what I think is the answer, I'll give it a shot:

bit_pattern_31_[]

is a pre-computed set of points P1(x,y) and P2(x,y).

I believe it to be the set of points obtained by the greedy search described in section 4.3 Learning Good Binary Features of the original orb paper (ORB: an efficient alternative to SIFT or SURF)

Dumle29
  • 809
  • 1
  • 6
  • 13