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backward compatibility with octave issue

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matlabbe
2026-09-19 17:20:48 -07:00
parent f1347db4f2
commit 5a0e8d1a04
5 changed files with 140 additions and 64 deletions
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corelib/src/Memory.cpp
+31 -4
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@@ -101,6 +101,7 @@ Memory::Memory(const ParametersMap & parameters) :
_stereoFromMotion(Parameters::defaultMemStereoFromMotion()),
_imagePreDecimation(Parameters::defaultMemImagePreDecimation()),
_imagePostDecimation(Parameters::defaultMemImagePostDecimation()),
_legacyDecimatedOctave(false),
_compressionParallelized(Parameters::defaultMemCompressionParallelized()),
_laserScanDownsampleStepSize(Parameters::defaultMemLaserScanDownsampleStepSize()),
_laserScanVoxelSize(Parameters::defaultMemLaserScanVoxelSize()),
@@ -220,6 +221,28 @@ bool Memory::init(const std::string & dbUrl, bool dbOverwritten, const Parameter
if(_dbDriver->openConnection(dbUrl, dbOverwritten, isReadOnly()))
{
success = true;
// Before 0.23.12 the octave of a keypoint scaled into a decimated image was
// moved the wrong way, which changes the pyramid level its descriptor is
// taken from. A map filled that way stays self-consistent only if we keep
// filling it that way; a new one gets the corrected scaling.
_legacyDecimatedOctave =
uStrNumCmp(_dbDriver->getDatabaseVersion(), "0.23.12") < 0;
// Only worth saying where the two scalings actually differ: on keypoints
// provided by odometry and scaled into a pre-decimated image, and on the
// remap to a post-decimated one, which used to move the octave by the wrong
// amount rather than the wrong way. Pre-decimation on its own changes
// nothing, features found in the decimated image being at its own levels.
if(_legacyDecimatedOctave &&
((_useOdometryFeatures && _imagePreDecimation > 1) ||
(_imagePostDecimation > 1 && _imagePreDecimation != _imagePostDecimation)))
{
UWARN("Database \"%s\" was created by version %s, before the octave of "
"decimated keypoints was corrected (0.23.12). Its features keep "
"being described the old way so that they stay comparable with "
"those already in it. Start a new map to get the corrected one.",
dbUrl.c_str(), _dbDriver->getDatabaseVersion().c_str());
}
if(postInitClosingEvents) UEventsManager::post(new RtabmapEventInit(std::string("Connecting to database \"") + dbUrl + "\", done!"));
}
else
@@ -5663,8 +5686,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
// 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);
// keypoints into it lowers their octave. Databases older than
// 0.23.12 were filled with it raised instead; see _legacyDecimatedOctave.
double log2value = log(double(_legacyDecimatedOctave?
double(_imagePreDecimation):double(decimationRatio)))/log(2.0);
for(unsigned int i=0; i < keypoints.size(); ++i)
{
cv::KeyPoint & kpt = keypoints[i];
@@ -6255,8 +6280,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
float decimationRatio = float(preDecimation) / float(_imagePostDecimation);
// 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);
// agreeing only when the final image is not decimated at all. Databases older
// than 0.23.12 were filled with log2(pre); see _legacyDecimatedOctave.
double log2value = log(double(_legacyDecimatedOctave?
double(preDecimation):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];