const orb_sampling_pattern = [[8, -3, 9, 5], [4, 2, 7, -12], [-11, 9, -8, 2], [7, -12, 12, -13], [2, -13, 2, 12], [1, -7, 1, 6],
                        [-2, -10, -2, -4], [-13, -13, -11, -8], [-13, -3, -12, -9], [10, 4, 11, 9], [-13, -8, -8, -9], [-11, 7, -9, 12],
                        [7, 7, 12, 6], [-4, -5, -3, 0], [-13, 2, -12, -3], [-9, 0, -7, 5], [12, -6, 12, -1], [-3, 6, -2, 12], [-6, -13, -4, -8],
                        [11, -13, 12, -8], [4, 7, 5, 1], [5, -3, 10, -3], [3, -7, 6, 12], [-8, -7, -6, -2], [-2, 11, -1, -10], [-13, 12, -8, 10],
                        [-7, 3, -5, -3], [-4, 2, -3, 7], [-10, -12, -6, 11], [5, -12, 6, -7], [5, -6, 7, -1], [1, 0, 4, -5], [9, 11, 11, -13],
                        [4, 7, 4, 12], [2, -1, 4, 4], [-4, -12, -2, 7], [-8, -5, -7, -10], [4, 11, 9, 12], [0, -8, 1, -13], [-13, -2, -8, 2],
                        [-3, -2, -2, 3], [-6, 9, -4, -9], [8, 12, 10, 7], [0, 9, 1, 3], [7, -5, 11, -10], [-13, -6, -11, 0], [10, 7, 12, 1],
                        [-6, -3, -6, 12], [10, -9, 12, -4], [-13, 8, -8, -12], [-13, 0, -8, -4], [3, 3, 7, 8], [5, 7, 10, -7], [-1, 7, 1, -12],
                        [3, -10, 5, 6], [2, -4, 3, -10], [-13, 0, -13, 5], [-13, -7, -12, 12], [-13, 3, -11, 8], [-7, 12, -4, 7], [6, -10, 12, 8],
                        [-9, -1, -7, -6], [-2, -5, 0, 12], [-12, 5, -7, 5], [3, -10, 8, -13], [-7, -7, -4, 5], [-3, -2, -1, -7], [2, 9, 5, -11],
                        [-11, -13, -5, -13], [-1, 6, 0, -1], [5, -3, 5, 2], [-4, -13, -4, 12], [-9, -6, -9, 6], [-12, -10, -8, -4], [10, 2, 12, -3],
                        [7, 12, 12, 12], [-7, -13, -6, 5], [-4, 9, -3, 4], [7, -1, 12, 2], [-7, 6, -5, 1], [-13, 11, -12, 5], [-3, 7, -2, -6],
                        [7, -8, 12, -7], [-13, -7, -11, -12], [1, -3, 12, 12], [2, -6, 3, 0], [-4, 3, -2, -13], [-1, -13, 1, 9], [7, 1, 8, -6],
                        [1, -1, 3, 12], [9, 1, 12, 6], [-1, -9, -1, 3], [-13, -13, -10, 5], [7, 7, 10, 12], [12, -5, 12, 9], [6, 3, 7, 11],
                        [5, -13, 6, 10], [2, -12, 2, 3], [3, 8, 4, -6], [2, 6, 12, -13], [9, -12, 10, 3], [-8, 4, -7, 9], [-11, 12, -4, -6],
                        [1, 12, 2, -8], [6, -9, 7, -4], [2, 3, 3, -2], [6, 3, 11, 0], [3, -3, 8, -8], [7, 8, 9, 3], [-11, -5, -6, -4],
                        [-10, 11, -5, 10], [-5, -8, -3, 12], [-10, 5, -9, 0], [8, -1, 12, -6], [4, -6, 6, -11], [-10, 12, -8, 7], [4, -2, 6, 7],
                        [-2, 0, -2, 12], [-5, -8, -5, 2], [7, -6, 10, 12], [-9, -13, -8, -8], [-5, -13, -5, -2], [8, -8, 9, -13], [-9, -11, -9, 0],
                        [1, -8, 1, -2], [7, -4, 9, 1], [-2, 1, -1, -4], [11, -6, 12, -11], [-12, -9, -6, 4], [3, 7, 7, 12], [5, 5, 10, 8],
                        [0, -4, 2, 8], [-9, 12, -5, -13], [0, 7, 2, 12], [-1, 2, 1, 7], [5, 11, 7, -9], [3, 5, 6, -8], [-13, -4, -8, 9],
                        [-5, 9, -3, -3], [-4, -7, -3, -12], [6, 5, 8, 0], [-7, 6, -6, 12], [-13, 6, -5, -2], [1, -10, 3, 10], [4, 1, 8, -4],
                        [-2, -2, 2, -13], [2, -12, 12, 12], [-2, -13, 0, -6], [4, 1, 9, 3], [-6, -10, -3, -5], [-3, -13, -1, 1], [7, 5, 12, -11],
                        [4, -2, 5, -7], [-13, 9, -9, -5], [7, 1, 8, 6], [7, -8, 7, 6], [-7, -4, -7, 1], [-8, 11, -7, -8], [-13, 6, -12, -8],
                        [2, 4, 3, 9], [10, -5, 12, 3], [-6, -5, -6, 7], [8, -3, 9, -8], [2, -12, 2, 8], [-11, -2, -10, 3], [-12, -13, -7, -9],
                        [-11, 0, -10, -5], [5, -3, 11, 8], [-2, -13, -1, 12], [-1, -8, 0, 9], [-13, -11, -12, -5], [-10, -2, -10, 11], [-3, 9, -2, -13],
                        [2, -3, 3, 2], [-9, -13, -4, 0], [-4, 6, -3, -10], [-4, 12, -2, -7], [-6, -11, -4, 9], [6, -3, 6, 11], [-13, 11, -5, 5],
                        [11, 11, 12, 6], [7, -5, 12, -2], [-1, 12, 0, 7], [-4, -8, -3, -2], [-7, 1, -6, 7], [-13, -12, -8, -13], [-7, -2, -6, -8],
                        [-8, 5, -6, -9], [-5, -1, -4, 5], [-13, 7, -8, 10], [1, 5, 5, -13], [1, 0, 10, -13], [9, 12, 10, -1], [5, -8, 10, -9],
                        [-1, 11, 1, -13], [-9, -3, -6, 2], [-1, -10, 1, 12], [-13, 1, -8, -10], [8, -11, 10, -6], [2, -13, 3, -6], [7, -13, 12, -9],
                        [-10, -10, -5, -7], [-10, -8, -8, -13], [4, -6, 8, 5], [3, 12, 8, -13], [-4, 2, -3, -3], [5, -13, 10, -12], [4, -13, 5, -1],
                        [-9, 9, -4, 3], [0, 3, 3, -9], [-12, 1, -6, 1], [3, 2, 4, -8], [-10, -10, -10, 9], [8, -13, 12, 12], [-8, -12, -6, -5],
                        [2, 2, 3, 7], [10, 6, 11, -8], [6, 8, 8, -12], [-7, 10, -6, 5], [-3, -9, -3, 9], [-1, -13, -1, 5], [-3, -7, -3, 4],
                        [-8, -2, -8, 3], [4, 2, 12, 12], [2, -5, 3, 11], [6, -9, 11, -13], [3, -1, 7, 12], [11, -1, 12, 4], [-3, 0, -3, 6],
                        [4, -11, 4, 12], [2, -4, 2, 1], [-10, -6, -8, 1], [-13, 7, -11, 1], [-13, 12, -11, -13], [6, 0, 11, -13], [0, -1, 1, 4],
                        [-13, 3, -9, -2], [-9, 8, -6, -3], [-13, -6, -8, -2], [5, -9, 8, 10], [2, 7, 3, -9], [-1, -6, -1, -1], [9, 5, 11, -2],
                        [11, -3, 12, -8], [3, 0, 3, 5], [-1, 4, 0, 10], [3, -6, 4, 5], [-13, 0, -10, 5], [5, 8, 12, 11], [8, 9, 9, -6], [7, -4, 8, -12],
                        [-10, 4, -10, 9], [7, 3, 12, 4], [9, -7, 10, -2], [7, 0, 12, -2], [-1, -6, 0, -11]]

const freak_sampling_pattern = [[29, 27], [30, 26], [41, 39], [33, 16], [20, 11], [11, 8], [26, 12], [43, 14], [40, 34], [34, 16], [39, 17], [22, 21],
                                [30, 12], [21, 16], [6, 2], [34, 33], [18, 14], [24, 13], [10, 4], [26, 7], [19, 13], [42, 38], [23, 20], [5, 3], [12, 7],
                                [7, 1], [12, 1], [39, 15], [10, 9], [30, 7], [35, 32], [17, 15], [40, 21], [38, 30], [37, 31], [41, 3], [36, 31], [32, 23],
                                [34, 22], [33, 21], [24, 19], [37, 36], [40, 22], [29, 15], [20, 8], [41, 17], [40, 33], [9, 4], [38, 7], [42, 26], [34, 21],
                                [41, 15], [38, 12], [37, 25], [23, 11], [42, 12], [22, 16], [23, 8], [42, 30], [14, 6], [38, 26], [32, 20], [42, 7], [39, 5],
                                [17, 3], [33, 22], [35, 23], [39, 29], [27, 4], [27, 15], [35, 11], [32, 11], [29, 17], [32, 8], [35, 20], [29, 4], [18, 2],
                                [15, 3], [29, 3], [27, 3], [36, 25], [39, 27], [41, 29], [22, 9], [22, 4], [31, 25], [18, 6], [41, 27], [27, 17], [15, 5],
                                [29, 5], [35, 8], [17, 5], [40, 10], [21, 4], [40, 9], [39, 4], [42, 24], [14, 2], [21, 10], [26, 18], [27, 5], [40, 28],
                                [21, 9], [15, 10], [32, 2], [36, 19], [14, 1], [35, 2], [41, 4], [38, 24], [18, 1], [42, 19], [15, 4], [18, 7], [19, 12],
                                [38, 14], [22, 10], [30, 14], [28, 16], [30, 13], [30, 18], [13, 12], [14, 12], [33, 28], [24, 7], [38, 18], [26, 13], [34, 28],
                                [7, 6], [32, 6], [38, 19], [17, 4], [31, 24], [31, 19], [42, 14], [13, 7], [16, 9], [24, 1], [16, 4], [26, 14], [8, 5], [19, 1],
                                [37, 19], [30, 6], [36, 13], [36, 24], [17, 9], [26, 6], [23, 2], [26, 2], [14, 7], [12, 2], [24, 12], [28, 21], [11, 2], [30, 2],
                                [28, 10], [10, 3], [15, 9], [20, 6], [39, 8], [16, 10], [35, 18], [13, 1], [28, 22], [37, 24], [17, 10], [28, 9], [30, 19],
                                [19, 7], [42, 2], [6, 1], [26, 24], [29, 16], [4, 3], [27, 16], [43, 31], [5, 4], [41, 11], [11, 3], [2, 1], [20, 5], [27, 22],
                                [23, 6], [8, 6], [20, 2], [18, 12], [35, 14], [35, 1], [9, 5], [25, 19], [30, 24], [39, 22], [40, 15], [29, 21], [41, 8],
                                [25, 13], [25, 24], [40, 29], [35, 5], [40, 27], [39, 20], [40, 17], [22, 15], [32, 1], [39, 21], [33, 3], [32, 3], [23, 5],
                                [17, 8], [41, 23], [31, 12], [23, 3], [34, 17], [32, 18], [41, 21], [26, 19], [7, 2], [34, 5], [41, 22], [31, 7], [34, 27],
                                [20, 3], [12, 6], [34, 3], [39, 11], [32, 5], [9, 3], [22, 3], [37, 1], [43, 39], [19, 18], [24, 14], [41, 20], [14, 11], [11, 5],
                                [33, 17], [29, 22], [8, 3], [33, 5], [16, 3], [33, 29], [14, 13], [21, 5], [18, 8], [17, 16], [21, 3], [21, 17], [27, 21],
                                [18, 13], [13, 6], [16, 15], [15, 11], [35, 3], [43, 10], [19, 6], [24, 2], [22, 5], [25, 1], [31, 30], [27, 8], [39, 23],
                                [20, 18], [29, 8], [8, 4], [32, 12], [10, 5], [23, 1], [36, 26], [20, 1], [24, 6], [13, 2], [16, 5], [42, 25], [23, 14], [20, 17],
                                [29, 11], [38, 36], [38, 25], [11, 6], [5, 2], [42, 31], [32, 15], [11, 4], [33, 27], [8, 2], [19, 2], [6, 3], [37, 30], [39, 34],
                                [37, 26], [35, 17], [39, 35], [42, 11], [41, 32], [20, 4], [8, 1], [23, 7], [27, 11], [28, 3], [23, 4], [11, 9], [24, 18],
                                [12, 8], [20, 12], [11, 1], [20, 7], [23, 15], [41, 33], [38, 8], [28, 5], [34, 29], [36, 18], [19, 14], [21, 15], [11, 10],
                                [23, 18], [28, 15], [22, 17], [23, 12], [31, 18], [38, 35], [38, 20], [35, 13], [6, 5], [42, 23], [32, 17], [32, 4], [41, 2],
                                [35, 4], [30, 11], [20, 9], [29, 28], [9, 8], [41, 40], [36, 14], [36, 30], [28, 17], [15, 8], [37, 14], [31, 14], [3, 2],
                                [31, 26], [38, 11], [31, 6], [23, 10], [17, 11], [18, 11], [20, 14], [20, 15], [30, 25], [12, 11], [41, 28], [28, 27], [14, 5],
                                [17, 2], [39, 6], [23, 9], [26, 11], [18, 3], [36, 2], [39, 28], [35, 15], [32, 13], [42, 32], [41, 18], [23, 17], [8, 7],
                                [14, 8], [35, 26], [26, 8], [40, 39], [27, 2], [32, 30], [42, 37], [26, 25], [42, 8], [15, 6], [40, 8], [6, 4], [29, 20], [17, 6],
                                [38, 23], [38, 37], [15, 2], [25, 18], [39, 14], [25, 2], [18, 5], [16, 8], [4, 2], [14, 3], [42, 36], [42, 20], [3, 1], [30, 8],
                                [27, 23], [35, 24], [32, 29], [25, 14], [38, 31], [7, 5], [40, 11], [29, 2], [13, 11], [13, 8], [16, 11], [5, 1], [35, 30],
                                [20, 13], [39, 32], [21, 8], [32, 19], [22, 8], [27, 20], [27, 6], [29, 23], [20, 16], [23, 13], [35, 27], [22, 11], [41, 1],
                                [21, 11], [41, 14], [23, 16], [42, 5], [10, 6], [39, 33], [35, 19], [14, 4], [39, 1], [26, 23], [40, 20], [39, 18], [18, 4],
                                [32, 16], [32, 26], [15, 1], [41, 35], [41, 34], [19, 11], [18, 17], [32, 24], [40, 23], [24, 11], [30, 20], [30, 5], [35, 16],
                                [17, 1], [26, 20], [38, 3], [18, 15], [19, 8], [26, 3], [32, 27], [33, 20], [24, 8], [18, 10], [30, 23], [15, 7], [23, 21],
                                [29, 18], [24, 20], [23, 22], [7, 4], [16, 2], [28, 8], [42, 35], [32, 21], [18, 9], [34, 23], [17, 12], [17, 14], [29, 1],
                                [13, 3], [15, 12], [15, 14], [12, 4], [28, 11], [24, 23], [21, 20], [38, 32], [35, 22], [27, 14], [40, 2], [35, 29], [27, 1],
                                [30, 3], [22, 20], [9, 1], [26, 5], [21, 2], [20, 19], [16, 6], [17, 7], [32, 22], [22, 2], [34, 20], [34, 6], [13, 5], [22, 6],
                                [38, 5], [23, 19], [10, 1], [35, 21], [29, 12], [36, 11], [27, 7], [33, 23], [31, 8], [42, 3]]

const freak_orientation_sampling_pattern = [[1, 4], [2, 5], [3, 6], [1, 3], [2, 4], [3, 5], [4, 6], [5, 1], [6, 2], [7, 10], [8, 11], [9, 12], [7, 9], [8, 10],
                                            [9, 11], [10, 12], [11, 7], [12, 8], [13, 16], [14, 17], [15, 18], [13, 15], [14, 16], [15, 17], [16, 18], [17, 13],
                                            [18, 14], [19, 22], [20, 23], [21, 24], [19, 21], [20, 22], [21, 23], [22, 24], [23, 19], [24, 20], [25, 28], [26, 29],
                                            [27, 30], [31, 34], [32, 35], [33, 36], [37, 40], [38, 41], [39, 42]]

const freak_num_circular_pattern = [6, 6, 6, 6, 6, 6, 6, 1]

const freak_largest_radius = 2 / 3

const freak_smallest_radius = 2 / 24

const freak_circular_spacing = (freak_largest_radius - freak_smallest_radius) / 21

const freak_radii = [freak_largest_radius, freak_largest_radius - 6 * freak_circular_spacing, freak_largest_radius - 11 * freak_circular_spacing,
                     freak_largest_radius - 15 * freak_circular_spacing, freak_largest_radius - 18 * freak_circular_spacing,
                     freak_largest_radius - 20 * freak_circular_spacing, freak_smallest_radius, 0]

const freak_sigma = vcat(freak_radii[1:end - 1] / 2, freak_radii[end - 1] / 2)

const freak_orientation_steps = 256;

const brisk_radii = [0, 2.9, 4.9, 7.4, 10.8]

const brisk_sigma = [0.65, 1.16, 1.41, 2.00, 2.19]

const brisk_num_circular_pattern = [1, 10, 14, 15, 20]

const brisk_orientation_steps = 1024

const brisk_dmin = 8.2

const brisk_dmax = 5.85

const brisk_points = 60
