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odom: fixed input keypoint scaling when Odom/Decimation is used

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matlabbe
2026-09-19 16:30:20 -07:00
parent 78d423b818
commit 0b1c93ef37
1 changed files with 18 additions and 0 deletions
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corelib/src/Odometry.cpp
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@@ -779,6 +779,24 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
} }
// Features that came with the frame are placed in the full size image, while what
// is about to be registered is the decimated one and the calibration that goes
// with it, so bring them along. They are scaled back below with whatever the
// registration returns, leaving the caller its own frame of reference.
if(!decimatedData.keypoints().empty())
{
std::vector<cv::KeyPoint> decimatedKpts = decimatedData.keypoints();
double log2value = log(double(_imageDecimation))/log(2.0);
for(unsigned int i=0; i<decimatedKpts.size(); ++i)
{
decimatedKpts[i].pt.x /= _imageDecimation;
decimatedKpts[i].pt.y /= _imageDecimation;
decimatedKpts[i].size /= _imageDecimation;
decimatedKpts[i].octave -= log2value;
}
decimatedData.setFeatures(decimatedKpts, decimatedData.keypoints3D(), decimatedData.descriptors());
}
// compute transform // compute transform
t = this->computeTransform(decimatedData, guess, info); t = this->computeTransform(decimatedData, guess, info);