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ARCore: features from arcore are used directly for keypoints

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matlabbe
2020-06-29 15:08:24 -04:00
parent dacf724ea6
commit 542f06ec24
3 changed files with 82 additions and 21 deletions
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74
corelib/src/Memory.cpp
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@@ -4260,29 +4260,48 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
}
}
int oldMaxFeatures = _feature2D->getMaxFeatures();
UDEBUG("rawDescriptorsKept=%d, pose=%d, maxFeatures=%d, visMaxFeatures=%d", _rawDescriptorsKept?1:0, pose.isNull()?0:1, _feature2D->getMaxFeatures(), _visMaxFeatures);
ParametersMap tmpMaxFeatureParameter;
if(_rawDescriptorsKept&&!pose.isNull()&&_feature2D->getMaxFeatures()>0&&_feature2D->getMaxFeatures()<_visMaxFeatures)
bool useProvided3dPoints = false;
if(_useOdometryFeatures && !data.keypoints().empty())
{
// The total extracted features should match the number of features used for transformation estimation
UDEBUG("Changing temporary max features from %d to %d", _feature2D->getMaxFeatures(), _visMaxFeatures);
tmpMaxFeatureParameter.insert(ParametersPair(Parameters::kKpMaxFeatures(), uNumber2Str(_visMaxFeatures)));
_feature2D->parseParameters(tmpMaxFeatureParameter);
UDEBUG("Using provided keypoints (%d)", (int)data.keypoints().size());
keypoints = data.keypoints();
// In case we provided corresponding 3D features
if(keypoints.size() == data.keypoints3D().size())
{
for(size_t i=0; i<keypoints.size(); ++i)
{
keypoints[i].class_id = i;
}
useProvided3dPoints = true;
}
}
keypoints = _feature2D->generateKeypoints(
imageMono,
depthMask);
if(tmpMaxFeatureParameter.size())
else
{
tmpMaxFeatureParameter.at(Parameters::kKpMaxFeatures()) = uNumber2Str(oldMaxFeatures);
_feature2D->parseParameters(tmpMaxFeatureParameter); // reset back
int oldMaxFeatures = _feature2D->getMaxFeatures();
UDEBUG("rawDescriptorsKept=%d, pose=%d, maxFeatures=%d, visMaxFeatures=%d", _rawDescriptorsKept?1:0, pose.isNull()?0:1, _feature2D->getMaxFeatures(), _visMaxFeatures);
ParametersMap tmpMaxFeatureParameter;
if(_rawDescriptorsKept&&!pose.isNull()&&_feature2D->getMaxFeatures()>0&&_feature2D->getMaxFeatures()<_visMaxFeatures)
{
// The total extracted features should match the number of features used for transformation estimation
UDEBUG("Changing temporary max features from %d to %d", _feature2D->getMaxFeatures(), _visMaxFeatures);
tmpMaxFeatureParameter.insert(ParametersPair(Parameters::kKpMaxFeatures(), uNumber2Str(_visMaxFeatures)));
_feature2D->parseParameters(tmpMaxFeatureParameter);
}
keypoints = _feature2D->generateKeypoints(
imageMono,
depthMask);
if(tmpMaxFeatureParameter.size())
{
tmpMaxFeatureParameter.at(Parameters::kKpMaxFeatures()) = uNumber2Str(oldMaxFeatures);
_feature2D->parseParameters(tmpMaxFeatureParameter); // reset back
}
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemKeypoints_detection(), t*1000.0f);
UDEBUG("time keypoints (%d) = %fs", (int)keypoints.size(), t);
}
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemKeypoints_detection(), t*1000.0f);
UDEBUG("time keypoints (%d) = %fs", (int)keypoints.size(), t);
descriptors = _feature2D->generateDescriptors(imageMono, keypoints);
t = timer.ticks();
@@ -4414,7 +4433,22 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
UDEBUG("time rectification = %fs", t);
}
if((!decimatedData.depthRaw().empty() && decimatedData.cameraModels().size() && decimatedData.cameraModels()[0].isValidForProjection()) ||
if(useProvided3dPoints && keypoints.size() != data.keypoints3D().size())
{
UDEBUG("Using provided 3d points (%d->%d)", (int)data.keypoints3D().size(), (int)keypoints.size());
keypoints3D.resize(keypoints.size());
for(size_t i=0; i<keypoints.size(); ++i)
{
UASSERT(keypoints[i].class_id < data.keypoints3D().size());
keypoints3D[i] = data.keypoints3D()[keypoints[i].class_id];
}
}
else if(keypoints.size() == data.keypoints3D().size())
{
UDEBUG("Using provided 3d points (%d)", (int)data.keypoints3D().size());
keypoints3D = data.keypoints3D();
}
else if((!decimatedData.depthRaw().empty() && decimatedData.cameraModels().size() && decimatedData.cameraModels()[0].isValidForProjection()) ||
(!decimatedData.rightRaw().empty() && decimatedData.stereoCameraModel().isValidForProjection()))
{
keypoints3D = _feature2D->generateKeypoints3D(decimatedData, keypoints);