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

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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
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corelib/src/Memory.cpp
+44 -15
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@@ -455,6 +455,10 @@ void Memory::parseParameters(const ParametersMap & parameters)
_feature2D = new GFTT_BRIEF(parameters);
_featureType = Feature2D::kFeatureGfttBrief;
break;
case Feature2D::kFeatureBrisk:
_feature2D = new BRISK(parameters);
_featureType = Feature2D::kFeatureBrisk;
break;
case Feature2D::kFeatureSurf:
default:
_feature2D = new SURF(parameters);
@@ -3095,7 +3099,7 @@ private:
Signature * Memory::createSignature(const SensorData & data, bool keepRawData)
{
UASSERT(data.image().empty() || data.image().type() == CV_8UC1 || data.image().type() == CV_8UC3);
UASSERT(data.depth().empty() || data.depth().type() == CV_16UC1);
UASSERT(data.depth().empty() || data.depth().type() == CV_16UC1 || data.depth().type() == CV_32FC1);
UASSERT(data.depth2d().empty() || data.depth2d().type() == CV_32FC2);
PreUpdateThread preUpdateThread(_vwd);
@@ -3147,24 +3151,44 @@ Signature * Memory::createSignature(const SensorData & data, bool keepRawData)
preUpdateThread.start();
}
// Extract features
cv::Mat imageMono;
// convert to grayscale
if(data.image().channels() > 1)
if(data.keypoints().size() == 0)
{
cv::cvtColor(data.image(), imageMono, cv::COLOR_BGR2GRAY);
// Extract features
cv::Mat imageMono;
// convert to grayscale
if(data.image().channels() > 1)
{
cv::cvtColor(data.image(), imageMono, cv::COLOR_BGR2GRAY);
}
else
{
imageMono = data.image();
}
this->extractKeypointsAndDescriptors(imageMono,
data.depth(),
data.depthFx(), data.depthFy(),
data.depthCx(), data.depthCy(),
keypoints,
descriptors);
UDEBUG("ratio=%f, meanWordsPerLocation=%d", _badSignRatio, meanWordsPerLocation);
if(descriptors.rows && descriptors.rows < _badSignRatio * float(meanWordsPerLocation))
{
descriptors = cv::Mat();
}
}
else
{
imageMono = data.image();
}
keypoints = data.keypoints();
descriptors = data.descriptors().clone();
this->extractKeypointsAndDescriptors(imageMono, data.depth(), data.depthFx(), data.depthFy(), data.depthCx(), data.depthCy(), keypoints, descriptors);
UDEBUG("ratio=%f, meanWordsPerLocation=%d", _badSignRatio, meanWordsPerLocation);
if(descriptors.rows && descriptors.rows < _badSignRatio * float(meanWordsPerLocation))
{
descriptors = cv::Mat();
filterKeypointsByDepth(keypoints, descriptors,
data.depth(),
data.depthFx(), data.depthFy(),
data.depthCx(), data.depthCy(),
_wordsMaxDepth);
limitKeypoints(keypoints, descriptors, _wordsPerImageTarget);
}
if(_parallelized)
@@ -3215,8 +3239,13 @@ Signature * Memory::createSignature(const SensorData & data, bool keepRawData)
{
std::vector<unsigned char> imageBytes;
std::vector<unsigned char> depthBytes;
if(data.depth().type() == CV_32FC1)
{
UWARN("Keeping raw data in database: depth type is 32FC1, use 16UC1 depth format to avoid a conversion.");
}
cv::Mat depthMM = data.depth().type() == CV_32FC1?util3d::cvtDepthFromFloat(data.depth()):data.depth();
util3d::CompressionThread ctImage(data.image(), std::string(".jpg"));
util3d::CompressionThread ctDepth(data.depth(), std::string(".png"));
util3d::CompressionThread ctDepth(depthMM, std::string(".png"));
ctImage.start();
ctDepth.start();
ctImage.join();