uzh-rpg / vilib

CUDA Visual Library by RPG

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FAST features detected on top of each other

berndpfrommer opened this issue · comments

Do I understand this right that at the cell boundaries one can get the same feature detected twice, at different levels?
In the attached image (top left corner) essentially the same feature is detected twice, at different levels:

x: 735, y: 542 level: 0
x: 734, y: 544 level: 1

Note: circle size is related to detection level.

Parameters are as follows:
cell_width: 32
cell_height: 32
pyramid_min_level: 0
pyramid_max_level: 2
threshold: 10.0
min_arc_length: 10
horizontal_border: 8
vertical_border: 8

Is there anything I can do to avoid that?
Thanks!

fast_features_checkerboard