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().

corelib/src/Memory.cpp

@@ -2073,14 +2073,26 @@ Transform Memory::computeTransform(
 			Signature tmpFrom = *fromS;
 			Signature tmpTo = *toS;
 
-			// make a guess with known correspondences
+			// make a guess fast with known correspondences (if there are)
 			RegistrationVis regVis(parameters_);
-			tmpFrom.sensorData().setFeatures(std::vector<cv::KeyPoint>(), cv::Mat());
+			if(tmpFrom.getWords().size() &&
-			tmpTo.sensorData().setFeatures(std::vector<cv::KeyPoint>(), cv::Mat());
+				tmpTo.getWords().size() &&
-			guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
+				tmpFrom.getWords3().size() &&
+				tmpTo.getWords3().size())
+			{
+				UDEBUG("");
+				// Remove descriptors, this will avoid recomputation of the correspondences in regVis
+				tmpFrom.setWordsDescriptors(std::multimap<int, cv::Mat>());
+				tmpTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
+				guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
+				// set back descriptors
+				tmpFrom.setWordsDescriptors(fromS->getWordsDescriptors());
+				tmpTo.setWordsDescriptors(toS->getWordsDescriptors());
+			}
 
 			if(_reextractLoopClosureFeatures)
 			{
+				UDEBUG("");
 				tmpFrom.setWords(std::multimap<int, cv::KeyPoint>());
 				tmpFrom.setWords3(std::multimap<int, cv::Point3f>());
 				tmpFrom.setWordsDescriptors(std::multimap<int, cv::Mat>());
@@ -2090,28 +2102,25 @@ Transform Memory::computeTransform(
 				tmpTo.setWordsDescriptors(std::multimap<int, cv::Mat>());
 				tmpTo.sensorData().setFeatures(std::vector<cv::KeyPoint>(), cv::Mat());
 			}
-			else
-			{
-				// set back features
-				tmpFrom.sensorData().setFeatures(fromS->sensorData().keypoints(), fromS->sensorData().descriptors());
-				tmpTo.sensorData().setFeatures(toS->sensorData().keypoints(), toS->sensorData().descriptors());
-			}
 
 			if(guess.isNull())
 			{
 				if(!_registrationPipeline->isImageRequired())
 				{
+					UDEBUG("");
 					// no visual in the pipeline, make visual registration for guess
 					guess = regVis.computeTransformation(tmpFrom, tmpTo, guess, info);
 				}
 				else
 				{
+					UDEBUG("");
 					guess.setIdentity();
 				}
 			}
 
 			if(!guess.isNull())
 			{
+				UDEBUG("");
 				transform = _registrationPipeline->computeTransformation(tmpFrom, tmpTo, guess, info);
 
 				if(!transform.isNull())
@@ -3202,7 +3211,17 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
 
 		if(descriptors.empty())
 		{
-			descriptors = _feature2D->generateDescriptors(data.imageRaw(), keypoints);
+			cv::Mat imageMono;
+			if(data.imageRaw().channels() == 3)
+			{
+				cv::cvtColor(data.imageRaw(), imageMono, CV_BGR2GRAY);
+			}
+			else
+			{
+				imageMono = data.imageRaw();
+			}
+
+			descriptors = _feature2D->generateDescriptors(imageMono, keypoints);
 			t = timer.ticks();
 			if(stats) stats->addStatistic(Statistics::kTimingMemDescriptors_extraction(), t*1000.0f);
 			UDEBUG("time descriptors (%d) = %fs", descriptors.rows, t);

corelib/src/RegistrationVis.cpp

@@ -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