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fixing octave scaling when decimating image in Memory

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matlabbe
2026-09-19 16:54:13 -07:00
parent 0b1c93ef37
commit 4a8147b940
2 changed files with 56 additions and 2 deletions
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corelib/src/Memory.cpp
+9 -2
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@@ -5660,7 +5660,11 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
if(_imagePreDecimation > 1 || useProvided3dPoints)
{
float decimationRatio = 1.0f / float(_imagePreDecimation);
double log2value = log(double(_imagePreDecimation))/log(2.0);
// The octave a feature was found at moves with the image it is
// expressed in, by the same ratio as its position: a decimated
// image is already that many pyramid levels down, so scaling the
// keypoints into it lowers their octave.
double log2value = log(double(decimationRatio))/log(2.0);
for(unsigned int i=0; i < keypoints.size(); ++i)
{
cv::KeyPoint & kpt = keypoints[i];
@@ -6246,7 +6250,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
UASSERT(keypoints3D.size() == 0 || keypoints3D.size() == wordIds.size());
unsigned int i=0;
float decimationRatio = float(preDecimation) / float(_imagePostDecimation);
double log2value = log(double(preDecimation))/log(2.0);
// Same ratio the positions are remapped by, which is what keeps a keypoint at
// the scale it was found at: log2(pre/post), and not log2(pre), those two
// agreeing only when the final image is not decimated at all.
double log2value = log(double(decimationRatio))/log(2.0);
for(std::list<int>::iterator iter=wordIds.begin(); iter!=wordIds.end() && i < keypoints.size(); ++iter, ++i)
{
cv::KeyPoint kpt = keypoints[i];