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Cudasift tuning and SSC supporting multicameras (#1677)

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* CudaSIFT: filter doubles

* removed fixed threshold

* SSC can be used with multicameras. Refactored CudaSIFT to support SSC. Add new parameter SIFT/MaxGaussianThreshold. DbViewer: show negative features with gray color (so that we can know which features are in the vocabulary)

* Added SIFT/MaxGaussianThreshold parameter

* Updated parameter description
This commit is contained in:
matlabbe
2026-03-28 18:47:46 -07:00
committed by GitHub
parent 94bd3601fc
commit 20409d2bf6
11 changed files with 232 additions and 180 deletions
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corelib/src/Memory.cpp
+16 -18
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@@ -5168,16 +5168,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
{
UASSERT(!decimatedData.cameraModels().empty());
UDEBUG("Masking floor (threshold=%f)", _maskFloorThreshold);
if(_maskFloorThreshold<0.0f)
{
cv::Mat depthBelow;
util3d::filterFloor(depthMask, decimatedData.cameraModels(), _maskFloorThreshold*-1.0f, &depthBelow);
depthMask = depthBelow;
}
else
{
depthMask = util3d::filterFloor(depthMask, decimatedData.cameraModels(), _maskFloorThreshold);
}
depthMask = util3d::filterFloor(depthMask, decimatedData.cameraModels(), _maskFloorThreshold);
UDEBUG("Masking floor done.");
}
@@ -5227,6 +5218,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
else
{
int oldMaxFeatures = _feature2D->getMaxFeatures();
bool oldSSC = _feature2D->getSSC();
UDEBUG("rawDescriptorsKept=%d, pose=%d, maxFeatures=%d, visMaxFeatures=%d", _rawDescriptorsKept?1:0, pose.isNull()?0:1, _feature2D->getMaxFeatures(), _visMaxFeatures);
ParametersMap tmpMaxFeatureParameter;
if(_rawDescriptorsKept&&!pose.isNull()&&_feature2D->getMaxFeatures()>0&&_feature2D->getMaxFeatures()<_visMaxFeatures)
@@ -5234,6 +5226,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
// The total extracted features should match the number of features used for transformation estimation
UDEBUG("Changing temporary max features from %d to %d", _feature2D->getMaxFeatures(), _visMaxFeatures);
tmpMaxFeatureParameter.insert(ParametersPair(Parameters::kKpMaxFeatures(), uNumber2Str(_visMaxFeatures)));
tmpMaxFeatureParameter.insert(ParametersPair(Parameters::kKpSSC(), uNumber2Str(_visSSC)));
_feature2D->parseParameters(tmpMaxFeatureParameter);
}
@@ -5244,6 +5237,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
if(tmpMaxFeatureParameter.size())
{
tmpMaxFeatureParameter.at(Parameters::kKpMaxFeatures()) = uNumber2Str(oldMaxFeatures);
tmpMaxFeatureParameter.at(Parameters::kKpSSC()) = uBool2Str(oldSSC);
_feature2D->parseParameters(tmpMaxFeatureParameter); // reset back
}
t = timer.ticks();
@@ -5444,8 +5438,8 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
bool ssc = _rawDescriptorsKept&&!pose.isNull()&&_feature2D->getMaxFeatures()>0&&_feature2D->getMaxFeatures()<_visMaxFeatures?_visSSC:_feature2D->getSSC();
if((int)keypoints.size() > maxFeatures)
{
if(data.cameraModels().size()==1 || data.stereoCameraModels().size()==1)
_feature2D->limitKeypoints(keypoints, keypoints3D, descriptors, maxFeatures, data.cameraModels().size()?data.cameraModels()[0].imageSize():data.stereoCameraModels()[0].left().imageSize(), ssc);
if(data.cameraModels().size()>=1 || data.stereoCameraModels().size()>=1)
_feature2D->limitKeypoints(keypoints, keypoints3D, descriptors, maxFeatures, data.cameraModels().size()?cv::Size(data.cameraModels()[0].imageWidth()*data.cameraModels().size(), data.cameraModels()[0].imageHeight()):cv::Size(data.stereoCameraModels()[0].left().imageWidth()*data.stereoCameraModels().size(), data.stereoCameraModels()[0].left().imageHeight()), ssc);
else
_feature2D->limitKeypoints(keypoints, keypoints3D, descriptors, maxFeatures);
}
@@ -5678,13 +5672,17 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
UWARN("Ignored %s and %s parameters as they cannot be used for multi-cameras setup or uncalibrated camera.",
Parameters::kKpGridCols().c_str(), Parameters::kKpGridRows().c_str());
}
if(decimatedData.cameraModels().size()==1 || decimatedData.stereoCameraModels().size()==1 ||
data.cameraModels().size()==1 || data.stereoCameraModels().size()==1)
if(decimatedData.cameraModels().size()>=1 || decimatedData.stereoCameraModels().size()>=1 ||
data.cameraModels().size()>=1 || data.stereoCameraModels().size()>=1)
{
Feature2D::limitKeypoints(keypoints, inliers, _feature2D->getMaxFeatures(),
decimatedData.cameraModels().size()?decimatedData.cameraModels()[0].imageSize():
decimatedData.stereoCameraModels().size()?decimatedData.stereoCameraModels()[0].left().imageSize():
data.cameraModels().size()?data.cameraModels()[0].imageSize():data.stereoCameraModels()[0].left().imageSize(),
Feature2D::limitKeypoints(
keypoints,
inliers,
_feature2D->getMaxFeatures(),
decimatedData.cameraModels().size()?cv::Size(decimatedData.cameraModels()[0].imageWidth()*decimatedData.cameraModels().size(), decimatedData.cameraModels()[0].imageHeight()):
decimatedData.stereoCameraModels().size()?cv::Size(decimatedData.stereoCameraModels()[0].left().imageWidth()*decimatedData.stereoCameraModels().size(), decimatedData.stereoCameraModels()[0].left().imageWidth()):
data.cameraModels().size()?cv::Size(data.cameraModels()[0].imageWidth()*data.cameraModels().size(), data.cameraModels()[0].imageHeight()):
cv::Size(data.stereoCameraModels()[0].left().imageWidth()*data.stereoCameraModels().size(), data.stereoCameraModels()[0].left().imageHeight()),
_feature2D->getSSC());
}
else