ORB: User floorf to get keypoint xy from scale.
@@ -448,8 +448,8 @@ array_t *orb_find_keypoints(image_t *img, bool normalized, int threshold,
kpt->desc[i] = (uint8_t) val;
}
- kpt->x = (int)(kpt->x * scale);
- kpt->y = (int)(kpt->y * scale);
+ kpt->x = (int)floorf(kpt->x * scale);
+ kpt->y = (int)floorf(kpt->y * scale);
}
// Free current scale
