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Fixed stereo optical flow crash when no keypoints are extracted

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This commit is contained in:
matlabbe
2017-04-22 16:56:38 -04:00
parent 559e65a4e1
commit 183c6abc98
1 changed files with 48 additions and 41 deletions
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9
corelib/src/Features2d.cpp
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@@ -566,12 +566,16 @@ std::vector<cv::KeyPoint> Feature2D::generateKeypoints(const cv::Mat & image, co
cv::Mat Feature2D::generateDescriptors( cv::Mat Feature2D::generateDescriptors(
const cv::Mat & image, const cv::Mat & image,
std::vector<cv::KeyPoint> & keypoints) const std::vector<cv::KeyPoint> & keypoints) const
{
cv::Mat descriptors;
if(keypoints.size())
{ {
UASSERT(!image.empty()); UASSERT(!image.empty());
UASSERT(image.type() == CV_8UC1); UASSERT(image.type() == CV_8UC1);
cv::Mat descriptors = generateDescriptorsImpl(image, keypoints); descriptors = generateDescriptorsImpl(image, keypoints);
UASSERT_MSG(descriptors.rows == (int)keypoints.size(), uFormat("descriptors=%d, keypoints=%d", descriptors.rows, (int)keypoints.size()).c_str()); UASSERT_MSG(descriptors.rows == (int)keypoints.size(), uFormat("descriptors=%d, keypoints=%d", descriptors.rows, (int)keypoints.size()).c_str());
UDEBUG("Descriptors extracted = %d, remaining kpts=%d", descriptors.rows, (int)keypoints.size()); UDEBUG("Descriptors extracted = %d, remaining kpts=%d", descriptors.rows, (int)keypoints.size());
}
return descriptors; return descriptors;
} }
@@ -580,6 +584,8 @@ std::vector<cv::Point3f> Feature2D::generateKeypoints3D(
const std::vector<cv::KeyPoint> & keypoints) const const std::vector<cv::KeyPoint> & keypoints) const
{ {
std::vector<cv::Point3f> keypoints3D; std::vector<cv::Point3f> keypoints3D;
if(keypoints.size())
{
if(!data.rightRaw().empty() && !data.imageRaw().empty() && data.stereoCameraModel().isValidForProjection()) if(!data.rightRaw().empty() && !data.imageRaw().empty() && data.stereoCameraModel().isValidForProjection())
{ {
//stereo //stereo
@@ -622,6 +628,7 @@ std::vector<cv::Point3f> Feature2D::generateKeypoints3D(
_minDepth, _minDepth,
_maxDepth); _maxDepth);
} }
}
return keypoints3D; return keypoints3D;
} }