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Fixed bugged check and warn if python didn't return any descriptors

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This commit is contained in:
matlabbe
2026-06-01 19:29:31 -07:00
parent d864af6572
commit 36fe9e03a4
2 changed files with 167 additions and 7 deletions
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corelib/src/python/PyDetector.cpp
+19 -7
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@@ -209,18 +209,30 @@ std::vector<cv::KeyPoint> PyDetector::generateKeypointsImpl(const cv::Mat & imag
arrayPtr = reinterpret_cast<PyArrayObject*>(descPtr);
int nDesc = PyArray_SHAPE(arrayPtr)[0];
UASSERT(nDesc = nKpts);
int dim = PyArray_SHAPE(arrayPtr)[1];
type = PyArray_TYPE(arrayPtr);
UDEBUG("Desc array %dx%d (type=%d)", nDesc, dim, type);
UASSERT_MSG(type == NPY_FLOAT, uFormat("Returned matches should type FLOAT=11, received type=%d", type).c_str());
c_out = reinterpret_cast<float*>(PyArray_DATA(arrayPtr));
for (int i = 0, kpt_idx = 0; i < nDesc*dim; i+=dim, kpt_idx++)
if(nDesc != nKpts || dim <= 0)
{
if(keep_kpt[kpt_idx]) {
cv::Mat descriptor = cv::Mat(1, dim, CV_32FC1, &c_out[i]).clone();
descriptors_.push_back(descriptor);
UWARN("Python detector returned mismatched arrays: "
"%d keypoints vs %d descriptors (dim=%d). "
"Returning empty features.",
nKpts, nDesc, dim);
keypoints.clear();
descriptors_ = cv::Mat();
}
else
{
UASSERT_MSG(type == NPY_FLOAT, uFormat("Returned matches should type FLOAT=11, received type=%d", type).c_str());
c_out = reinterpret_cast<float*>(PyArray_DATA(arrayPtr));
for (int i = 0, kpt_idx = 0; i < nDesc*dim; i+=dim, kpt_idx++)
{
if(keep_kpt[kpt_idx]) {
cv::Mat descriptor = cv::Mat(1, dim, CV_32FC1, &c_out[i]).clone();
descriptors_.push_back(descriptor);
}
}
}
}