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Fixed some missing rgb conversions before descriptor extractions. RegVis: re-extracting 3D kpts if Signature.words3() and actual kpts are not the same size. Updated fast visual guess on Memory::computeTransform().

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This commit is contained in:
matlabbe
2016-03-09 19:17:29 -05:00
parent 0f477d6853
commit 609cc3dc59
2 changed files with 55 additions and 13 deletions
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corelib/src/RegistrationVis.cpp
+25 -2
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@@ -480,6 +480,12 @@ Transform RegistrationVis::computeTransformationImpl(
}
else if(!fromSignature.sensorData().imageRaw().empty())
{
if(fromSignature.sensorData().imageRaw().channels() > 1)
{
cv::Mat tmp;
cv::cvtColor(fromSignature.sensorData().imageRaw(), tmp, cv::COLOR_BGR2GRAY);
fromSignature.sensorData().setImageRaw(tmp);
}
descriptorsFrom = detector->generateDescriptors(fromSignature.sensorData().imageRaw(), kptsFrom);
}
@@ -505,6 +511,13 @@ Transform RegistrationVis::computeTransformationImpl(
}
else if(!toSignature.sensorData().imageRaw().empty())
{
if(toSignature.sensorData().imageRaw().channels() > 1)
{
cv::Mat tmp;
cv::cvtColor(toSignature.sensorData().imageRaw(), tmp, cv::COLOR_BGR2GRAY);
toSignature.sensorData().setImageRaw(tmp);
}
descriptorsTo = detector->generateDescriptors(toSignature.sensorData().imageRaw(), kptsTo);
}
}
@@ -512,16 +525,26 @@ Transform RegistrationVis::computeTransformationImpl(
// create 3D keypoints
std::vector<cv::Point3f> kptsFrom3D;
std::vector<cv::Point3f> kptsTo3D;
if(fromSignature.getWords3().empty())
if(fromSignature.getWords3().empty() || kptsFrom.size() != fromSignature.getWords3().size())
{
if(fromSignature.getWords3().size() && kptsFrom.size() != fromSignature.getWords3().size())
{
UWARN("kptsFrom (%d) is not the same size as fromSignature.getWords3() (%d), there "
"is maybe a problem with the logic above (getWords3() should be null or equal to kptsfrom).");
}
kptsFrom3D = detector->generateKeypoints3D(fromSignature.sensorData(), kptsFrom);
}
else
{
kptsFrom3D = uValues(fromSignature.getWords3());
}
if(toSignature.getWords3().empty())
if(toSignature.getWords3().empty() || kptsTo.size() != toSignature.getWords3().size())
{
if(toSignature.getWords3().size() && kptsTo.size() != toSignature.getWords3().size())
{
UWARN("kptsTo (%d) is not the same size as toSignature.getWords3() (%d), there "
"is maybe a problem with the logic above (getWords3() should be null or equal to kptsTo).");
}
kptsTo3D = detector->generateKeypoints3D(toSignature.sensorData(), kptsTo);
}
else