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transform features after source images decimation (#1154)

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Borong Yuan
2023-11-02 23:10:02 +08:00
committed by GitHub
parent 08d0ef7408
commit 45a3b59a23
1 changed files with 11 additions and 0 deletions
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11
corelib/src/CameraThread.cpp
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@@ -458,6 +458,17 @@ void CameraThread::postUpdate(SensorData * dataPtr, CameraInfo * info) const
{
data.setStereoImage(image, depthOrRight, stereoModels);
}
std::vector<cv::KeyPoint> kpts = data.keypoints();
double log2value = log(double(_imageDecimation))/log(2.0);
for(unsigned int i=0; i<kpts.size(); ++i)
{
kpts[i].pt.x /= _imageDecimation;
kpts[i].pt.y /= _imageDecimation;
kpts[i].size /= _imageDecimation;
kpts[i].octave -= log2value;
}
data.setFeatures(kpts, data.keypoints3D(), data.descriptors());
}
if(info) info->timeImageDecimation = timer.ticks();
}