├── .gitignore ├── CMakeLists.txt ├── LICENSE ├── README.md ├── doc ├── brisk.png ├── freak_fast.png ├── fsrk.png └── orb.png ├── images ├── IMG_280.png ├── IMG_35.png ├── cam_config_F.yaml ├── cam_down_camera_calib.yaml ├── down_vignetting_model_calib.yaml ├── image_F.png └── mask_down.jpg ├── include └── fsrk │ ├── sagast │ ├── sagast.h │ ├── sagast_core │ │ └── AGAST_ALL.h │ └── score │ │ └── sagast_score.hpp │ ├── sfreak │ ├── freak.hpp │ ├── sfreak.hpp │ └── sfreak_impl.h │ └── shape │ ├── circle.h │ ├── ellipse.h │ └── rectrot.h ├── package.xml └── src ├── calcCfgSagast.cpp ├── calcCfgSfreak.cpp ├── run_sagast.cpp ├── run_sfreak.cpp ├── sagast ├── offsets │ └── getOffsets.cpp ├── sagast.cpp ├── sagast_core │ ├── AGAST_12d │ │ ├── AGAST_12d.cpp │ │ └── OffsetsTable_12d.cpp │ ├── AGAST_12s │ │ ├── AGAST_12s.cpp │ │ └── OffsetsTable_12s.cpp │ ├── AGAST_8 │ │ ├── AGAST_8.cpp │ │ └── OffsetsTable_8.cpp │ └── OAST_16 │ │ ├── OAST_16.cpp │ │ └── OffsetsTable_16.cpp └── score │ └── 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