Number of keypoints does not match number of descriptors

C++
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1

Hi everyone,

I have a set of keypoints extracted with an aribirary keypoint detector (orb, random pixel, GFTT, etc).

Now, I want to extract ORB descriptor to each keypoint. I used the following code for it; however, number of keypoints is not equal to number of rows of descriptor matrix (cv::Mat).

Thank you,

// Compute the descriptors
        orb_descriptor_->compute(frame->left_img_, keypoints, frame->desctriptor_);
2

ORB::compute() may remove “bad” keypoints from the list, this is expected behaviour (same for SIFT & SURF)

that said, please use ORB::detectAndCompute() if possible, (not seperate functions) for effectivity.