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Memory: added some warnings about pre-postdecimation parameters, updated their description (removed negative decimation comment)

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matlabbe
2019-06-17 10:19:54 -04:00
parent d205683eb5
commit 50fdc210c9
3 changed files with 27 additions and 11 deletions
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22
corelib/src/Memory.cpp
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@@ -3998,8 +3998,9 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
data.depthOrRightRaw().type() == CV_8UC1)
&&
( (data.imageRaw().empty() && data.depthOrRightRaw().type() != CV_8UC1) ||
(data.imageRaw().rows % data.depthOrRightRaw().rows == 0 && data.imageRaw().cols % data.depthOrRightRaw().cols == 0))),
uFormat("image=(%d/%d) depth=(%d/%d, type=%d [accepted=%d,%d,%d])",
(data.imageRaw().rows % data.depthOrRightRaw().rows == 0 && data.imageRaw().cols % data.depthOrRightRaw().cols == 0 &&
data.depthOrRightRaw().rows <= data.imageRaw().rows && data.depthOrRightRaw().cols <= data.imageRaw().cols))),
uFormat("image=(%d/%d) depth=(%d/%d, type=%d [accepted=%d,%d,%d]) RGB should be",
data.imageRaw().cols,
data.imageRaw().rows,
data.depthOrRightRaw().cols,
@@ -4219,6 +4220,14 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
{
depthMask = util2d::interpolate(decimatedData.depthRaw(), imageMono.rows/decimatedData.depthRaw().rows, 0.1f);
}
else if(_imagePreDecimation > 1)
{
UWARN("%s=%d is not compatible between RGB and depth images, the depth mask cannot be used! (decimated RGB=%dx%d, depth=%dx%d)",
Parameters::kMemImagePreDecimation().c_str(),
_imagePreDecimation,
imageMono.cols, imageMono.rows,
decimatedData.depthRaw().cols, decimatedData.depthRaw().rows);
}
}
int oldMaxFeatures = _feature2D->getMaxFeatures();
@@ -4610,7 +4619,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
}
Landmarks landmarks = data.landmarks();
if(_detectMarkers && !isIntermediateNode)
if(_detectMarkers && !isIntermediateNode && !data.imageRaw().empty())
{
UDEBUG("Detecting markers...");
if(landmarks.empty())
@@ -4692,6 +4701,13 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
}
}
if(!image.empty() && (depthOrRightImage.cols > image.cols || depthOrRightImage.rows > image.rows))
{
UWARN("Depth image is bigger than RGB image after post decimation, %s=%d is too high! RGB=%dx%d, depth=%dx%d",
Parameters::kMemImagePostDecimation().c_str(), _imagePostDecimation,
image.cols, image.rows, depthOrRightImage.cols, depthOrRightImage.rows);
}
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemPost_decimation(), t*1000.0f);
UDEBUG("time post-decimation = %fs", t);