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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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89
corelib/src/Features2d.cpp
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@@ -567,11 +567,15 @@ cv::Mat Feature2D::generateDescriptors(
const cv::Mat & image, const cv::Mat & image,
std::vector<cv::KeyPoint> & keypoints) const std::vector<cv::KeyPoint> & keypoints) const
{ {
UASSERT(!image.empty()); cv::Mat descriptors;
UASSERT(image.type() == CV_8UC1); if(keypoints.size())
cv::Mat descriptors = generateDescriptorsImpl(image, keypoints); {
UASSERT_MSG(descriptors.rows == (int)keypoints.size(), uFormat("descriptors=%d, keypoints=%d", descriptors.rows, (int)keypoints.size()).c_str()); UASSERT(!image.empty());
UDEBUG("Descriptors extracted = %d, remaining kpts=%d", descriptors.rows, (int)keypoints.size()); UASSERT(image.type() == CV_8UC1);
descriptors = generateDescriptorsImpl(image, keypoints);
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());
}
return descriptors; return descriptors;
} }
@@ -580,47 +584,50 @@ 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(!data.rightRaw().empty() && !data.imageRaw().empty() && data.stereoCameraModel().isValidForProjection()) if(keypoints.size())
{ {
//stereo if(!data.rightRaw().empty() && !data.imageRaw().empty() && data.stereoCameraModel().isValidForProjection())
cv::Mat imageMono;
// convert to grayscale
if(data.imageRaw().channels() > 1)
{ {
cv::cvtColor(data.imageRaw(), imageMono, cv::COLOR_BGR2GRAY); //stereo
cv::Mat imageMono;
// convert to grayscale
if(data.imageRaw().channels() > 1)
{
cv::cvtColor(data.imageRaw(), imageMono, cv::COLOR_BGR2GRAY);
}
else
{
imageMono = data.imageRaw();
}
std::vector<cv::Point2f> leftCorners;
cv::KeyPoint::convert(keypoints, leftCorners);
std::vector<unsigned char> status;
std::vector<cv::Point2f> rightCorners;
rightCorners = _stereo->computeCorrespondences(
imageMono,
data.rightRaw(),
leftCorners,
status);
keypoints3D = util3d::generateKeypoints3DStereo(
leftCorners,
rightCorners,
data.stereoCameraModel(),
status,
_minDepth,
_maxDepth);
} }
else else if(!data.depthRaw().empty() && data.cameraModels().size())
{ {
imageMono = data.imageRaw(); keypoints3D = util3d::generateKeypoints3DDepth(
keypoints,
data.depthOrRightRaw(),
data.cameraModels(),
_minDepth,
_maxDepth);
} }
std::vector<cv::Point2f> leftCorners;
cv::KeyPoint::convert(keypoints, leftCorners);
std::vector<unsigned char> status;
std::vector<cv::Point2f> rightCorners;
rightCorners = _stereo->computeCorrespondences(
imageMono,
data.rightRaw(),
leftCorners,
status);
keypoints3D = util3d::generateKeypoints3DStereo(
leftCorners,
rightCorners,
data.stereoCameraModel(),
status,
_minDepth,
_maxDepth);
}
else if(!data.depthRaw().empty() && data.cameraModels().size())
{
keypoints3D = util3d::generateKeypoints3DDepth(
keypoints,
data.depthOrRightRaw(),
data.cameraModels(),
_minDepth,
_maxDepth);
} }
return keypoints3D; return keypoints3D;