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Fixing empty descriptors on bad signatures (#1714), (bug from #1698) (#1717)

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* Fixing empty descriptors on bad signatures (#1714), (bug from #1698)

* PyDetector: dont assert (just error) if descriptors/keypoints don't match. SuperPoint approaches: try re-initializing superpoint detection on the provided image if descriptors could not be fetched the first time (auto recover).
This commit is contained in:
matlabbe
2026-06-07 13:19:31 -07:00
committed by GitHub
parent f29676deb0
commit 468f6e6f28
4 changed files with 185 additions and 136 deletions
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corelib/src/Features2d.cpp
+50 -2
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@@ -2639,7 +2639,31 @@ cv::Mat SuperPointTorch::generateDescriptorsImpl(const cv::Mat & image, std::vec
{
#ifdef RTABMAP_TORCH
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
return superPoint_->compute(keypoints);
cv::Mat descriptors;
if(!keypoints.empty())
{
descriptors = superPoint_->compute(keypoints);
if(descriptors.empty())
{
// superpoint may have been reset between keypoint detection and now,
// re-detect features to re-inialize the descriptors matrix, then
// re-extract descriptors with original keypoints.
UWARN("Re-initializing superpoint on that image to extract descriptors");
if(!superPoint_->detect(image).empty())
{
descriptors = superPoint_->compute(keypoints);
if(descriptors.rows == (int)keypoints.size())
{
UWARN("Sucessfully re-initialized superpoint, returning %d descriptors.", descriptors.rows);
}
}
else
{
UWARN("Failed to re-initialize superpoint on that image, returning empty descriptors.");
}
}
}
return descriptors;
#else
UWARN("RTAB-Map is not built with Torch support so SuperPoint Torch feature cannot be used!");
return cv::Mat();
@@ -2741,7 +2765,31 @@ cv::Mat SuperPointRpautrat::generateDescriptorsImpl(const cv::Mat & image, std::
{
#if defined(RTABMAP_TORCH) && defined(RTABMAP_PYTHON)
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
return superPoint_->compute(keypoints);
cv::Mat descriptors;
if(!keypoints.empty())
{
descriptors = superPoint_->compute(keypoints);
if(descriptors.empty())
{
// superpoint may have been reset between keypoint detection and now,
// re-detect features to re-inialize the descriptors matrix, then
// re-extract descriptors with original keypoints.
UWARN("Re-initializing superpoint on that image to extract descriptors");
if(!superPoint_->detect(image).empty())
{
descriptors = superPoint_->compute(keypoints);
if(descriptors.rows == (int)keypoints.size())
{
UWARN("Sucessfully re-initialized superpoint, returning %d descriptors.", descriptors.rows);
}
}
else
{
UWARN("Failed to re-initialize superpoint on that image, returning empty descriptors.");
}
}
}
return descriptors;
#else
UWARN("RTAB-Map is not built with Torch support so SuperPoint Rpautrat feature cannot be used!");
return cv::Mat();