i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 17:40:23 +08:00
Code Issues Packages Projects Releases Wiki Activity

reimplement NMS using morphological operations (#1192)

Browse Source
This commit is contained in:
Borong Yuan
2024-01-03 07:38:39 +08:00
committed by GitHub
parent d135ef02e2
commit 096592e4fc
1 changed files with 29 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files

44
corelib/src/camera/CameraDepthAI.cpp
View File

@@ -679,25 +679,39 @@ SensorData CameraDepthAI::captureImage(CameraInfo * info)
auto heatmap = features->getLayerFp16("heatmap");
auto desc = features->getLayerFp16("desc");
cv::Mat prob(200, 320, CV_32FC1, heatmap.data());
cv::resize(prob, prob, targetSize_, 0, 0, cv::INTER_CUBIC);
std::vector<cv::Point> kpts;
cv::findNonZero(prob > threshold_, kpts);
std::vector<cv::KeyPoint> keypoints_no_nms, keypoints;
for(auto& kpt : kpts)
cv::Mat scores(200, 320, CV_32FC1, heatmap.data());
cv::resize(scores, scores, targetSize_, 0, 0, cv::INTER_CUBIC);
if(nms_)
{
float response = prob.at<float>(kpt);
keypoints_no_nms.emplace_back(cv::KeyPoint(kpt, 8, -1, response));
cv::Mat dilated_scores(targetSize_, CV_32FC1);
cv::dilate(scores, dilated_scores, cv::getStructuringElement(cv::MORPH_RECT, cv::Size(nmsRadius_*2+1, nmsRadius_*2+1)));
cv::Mat max_mask = scores == dilated_scores;
cv::dilate(scores, dilated_scores, cv::Mat());
cv::Mat max_mask_r1 = scores == dilated_scores;
cv::Mat supp_mask(targetSize_, CV_8UC1);
for(size_t i=0; i<2; i++)
{
cv::dilate(max_mask, supp_mask, cv::getStructuringElement(cv::MORPH_RECT, cv::Size(nmsRadius_*2+1, nmsRadius_*2+1)));
cv::Mat supp_scores = scores.clone();
supp_scores.setTo(0, supp_mask);
cv::dilate(supp_scores, dilated_scores, cv::getStructuringElement(cv::MORPH_RECT, cv::Size(nmsRadius_*2+1, nmsRadius_*2+1)));
cv::Mat new_max_mask = cv::Mat::zeros(targetSize_, CV_8UC1);
cv::bitwise_not(supp_mask, supp_mask);
cv::bitwise_and(supp_scores == dilated_scores, supp_mask, new_max_mask, max_mask_r1);
cv::bitwise_or(max_mask, new_max_mask, max_mask);
}
cv::bitwise_not(max_mask, supp_mask);
scores.setTo(0, supp_mask);
}
if(nms_ && !keypoints_no_nms.empty())
std::vector<cv::Point> kpts;
cv::findNonZero(scores > threshold_, kpts);
std::vector<cv::KeyPoint> keypoints;
for(auto& kpt : kpts)
{
cv::Mat descEmpty;
util2d::NMS(keypoints_no_nms, descEmpty, keypoints, descEmpty, 0, nmsRadius_, targetSize_.width, targetSize_.height);
}
else if(!keypoints_no_nms.empty())
{
keypoints = keypoints_no_nms;
float response = scores.at<float>(kpt);
keypoints.emplace_back(cv::KeyPoint(kpt, 8, -1, response));
}
cv::Mat coarse_desc(25, 40, CV_32FC(256), desc.data());