i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-05 17:47:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed crash when using binary descriptors and maxWords/maxDepth are set

Browse Source 
Added BRISK detector

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1839 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-06 19:41:45 +00:00
parent d30c2baf51
commit 4d4c5af6e5
10 changed files with 303 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Features2d.cpp
+68 -2
View File
@@ -100,7 +100,14 @@ void filterKeypointsByDepth(
{
if(indexes[i] == 1)
{
memcpy(newDescriptors.ptr<float>(di++), descriptors.ptr<float>(i), descriptors.cols*sizeof(float));
if(descriptors.type() == CV_32FC1)
{
memcpy(newDescriptors.ptr<float>(di++), descriptors.ptr<float>(i), descriptors.cols*sizeof(float));
}
else // CV_8UC1
{
memcpy(newDescriptors.ptr<char>(di++), descriptors.ptr<char>(i), descriptors.cols*sizeof(char));
}
}
}
descriptors = newDescriptors;
@@ -146,7 +153,14 @@ void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, cv::Mat & descriptors
kptsTmp[k] = keypoints[iter->second];
if(descriptors.rows)
{
memcpy(descriptorsTmp.ptr<float>(k), descriptors.ptr<float>(iter->second), descriptors.cols*sizeof(float));
if(descriptors.type() == CV_32FC1)
{
memcpy(descriptorsTmp.ptr<float>(k), descriptors.ptr<float>(iter->second), descriptors.cols*sizeof(float));
}
else
{
memcpy(descriptorsTmp.ptr<char>(k), descriptors.ptr<char>(iter->second), descriptors.cols*sizeof(char));
}
}
}
ULOGGER_DEBUG("%d keypoints removed, (kept %d), minimum response=%f", removed, keypoints.size(), kptsTmp.size()?kptsTmp.back().response:0.0f);
@@ -842,4 +856,56 @@ cv::Mat GFTT_FREAK::generateDescriptorsImpl(const cv::Mat & image, std::vector<c
return descriptors;
}
//////////////////////////
//BRISK
//////////////////////////
BRISK::BRISK(const ParametersMap & parameters) :
thresh_(Parameters::defaultBRISKThresh()),
octaves_(Parameters::defaultBRISKOctaves()),
patternScale_(Parameters::defaultBRISKPatternScale()),
brisk_(0)
{
parseParameters(parameters);
}
BRISK::~BRISK()
{
if(brisk_)
{
delete brisk_;
}
}
void BRISK::parseParameters(const ParametersMap & parameters)
{
Parameters::parse(parameters, Parameters::kBRISKThresh(), thresh_);
Parameters::parse(parameters, Parameters::kBRISKOctaves(), octaves_);
Parameters::parse(parameters, Parameters::kBRISKPatternScale(), patternScale_);
if(brisk_)
{
delete brisk_;
brisk_ = 0;
}
brisk_ = new cv::BRISK(thresh_, octaves_, patternScale_);
}
std::vector<cv::KeyPoint> BRISK::generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi) const
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
std::vector<cv::KeyPoint> keypoints;
cv::Mat imgRoi(image, roi);
brisk_->detect(imgRoi, keypoints); // Opencv keypoints
return keypoints;
}
cv::Mat BRISK::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const
{
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
cv::Mat descriptors;
brisk_->compute(image, keypoints, descriptors);
return descriptors;
}
}