Harris Corner Detector for RTABMAP

[ducktrA]

Hi Matthieu, do you rate Harris Corner detection be suited for feature extraction? Some embedded hardware have it built in. Thank you

[matlabbe]

No, I didn't compare it. I use Feature2D library from OpenCV to get keypoints from many of the detectors shown there. The Harris detector is found in an independent function cv::cornerHarris. Note that when using ORB detector, harris detector seems used by default (well at least its scoring approach): though FAST seems used for detection: https://docs.opencv.org/4.5.0/db/d95/classcv_1_1ORB.html

One way to test could be to change FAST call here: https://github.com/introlab/rtabmap/blob/daefc5ff54d46a7bf4fa3e6b8b119a3ce20e29ea/corelib/src/Features2d.cpp#L1519 to harris detector and select FAST detector for rtabmap.