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Added floor filtering options for features extraction (#1408)

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* Added floor filtering options for features extraction

* cleanup
This commit is contained in:
matlabbe
2024-12-10 12:36:21 -08:00
committed by GitHub
parent a613998652
commit 38cacb7978
11 changed files with 579 additions and 317 deletions
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corelib/src/Features2d.cpp
+11 -6
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@@ -1315,6 +1315,11 @@ std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, con
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
std::vector<cv::KeyPoint> keypoints;
cv::Mat imgRoi(image, roi);
cv::Mat maskRoi;
if(!mask.empty())
{
maskRoi = cv::Mat(mask, roi);
}
#ifdef RTABMAP_CUDASIFT
if(gpu_)
{
@@ -1383,6 +1388,12 @@ std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, con
//std::cout << cv::Mat(1, 128*4, CV_8UC1, desc) << std::endl;
continue;
}
// Ignore keypoints not in the mask
if(!maskRoi.empty() && maskRoi.at<unsigned char>(cudaSiftData_->h_data[i].ypos, cudaSiftData_->h_data[i].xpos) == 0)
{
continue;
}
//Keep track of the data, to be easier to manage the data in the next step
hessianMap.insert(std::pair<float, int>(cudaSiftData_->h_data[i].sharpness, i));
}
@@ -1412,12 +1423,6 @@ std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, con
else
#endif
{
cv::Mat maskRoi;
if(!mask.empty())
{
maskRoi = cv::Mat(mask, roi);
}
#if CV_MAJOR_VERSION < 3 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
#ifdef RTABMAP_NONFREE
sift_->detect(imgRoi, keypoints, maskRoi); // Opencv keypoints