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Ptr orb = ORB::create( );

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    Ptr<ORB> orb = ORB::create( 500, 1.2f, 8, 31, 0, 2, ORB::HARRIS_SCORE,31,20 );

新手学习笔记： 

static Ptr<ORB> cv::ORB::create (   
        int     nfeatures = 500,
        float   scaleFactor = 1.2f,
        int     nlevels = 8,
        int     edgeThreshold = 31,
        int     firstLevel = 0,
        int     WTA_K = 2,
        int     scoreType = ORB::HARRIS_SCORE,
        int     patchSize = 31,
        int     fastThreshold = 20 
)

The

ORB

constructor.

Parameters

nfeatures The maximum number of features to retain.
scaleFactor Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer.
nlevels The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels).
edgeThreshold This is size of the border where the features are not detected. It should roughly match the patchSize parameter.
firstLevel It should be 0 in the current implementation.
WTA_K The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of

Hamming

distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3).
scoreType The default HARRIS_SCORE means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute.
patchSize size of the patch used by the oriented BRIEF descriptor. Of course, on smaller pyramid layers the perceived image area covered by a feature will be larger.
fastThreshold

OpenCV官方网址给出的：


http://docs.opencv.org/3.2.0/db/d95/classcv_1_1ORB.html#adc371099dc902a9674bd98936e79739c


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