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Parameters: added SIFT/RootSIFT parameter.

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matlabbe
2020-05-21 17:09:20 -04:00
parent 013bd0c72a
commit 69a2aacc8e
7 changed files with 60 additions and 8 deletions
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corelib/src/Features2d.cpp
+20 -1
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@@ -905,7 +905,8 @@ SIFT::SIFT(const ParametersMap & parameters) :
nOctaveLayers_(Parameters::defaultSIFTNOctaveLayers()),
contrastThreshold_(Parameters::defaultSIFTContrastThreshold()),
edgeThreshold_(Parameters::defaultSIFTEdgeThreshold()),
sigma_(Parameters::defaultSIFTSigma())
sigma_(Parameters::defaultSIFTSigma()),
rootSIFT_(Parameters::defaultSIFTRootSIFT())
{
parseParameters(parameters);
}
@@ -922,6 +923,7 @@ void SIFT::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kSIFTEdgeThreshold(), edgeThreshold_);
Parameters::parse(parameters, Parameters::kSIFTNOctaveLayers(), nOctaveLayers_);
Parameters::parse(parameters, Parameters::kSIFTSigma(), sigma_);
Parameters::parse(parameters, Parameters::kSIFTRootSIFT(), rootSIFT_);
#if CV_MAJOR_VERSION < 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION < 3)
#ifdef RTABMAP_NONFREE
@@ -962,6 +964,23 @@ cv::Mat SIFT::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::Key
cv::Mat descriptors;
#if defined(RTABMAP_NONFREE) || CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION >= 3)
_sift->compute(image, keypoints, descriptors);
if( rootSIFT_ && !descriptors.empty())
{
UDEBUG("Performing RootSIFT...");
// see http://www.pyimagesearch.com/2015/04/13/implementing-rootsift-in-python-and-opencv/
// apply the Hellinger kernel by first L1-normalizing and taking the
// square-root
for(int i=0; i<descriptors.rows; ++i)
{
// By taking the L1 norm, followed by the square-root, we have
// already L2 normalized the feature vector and further normalization
// is not needed.
descriptors.row(i) = descriptors.row(i) / cv::sum(descriptors.row(i))[0];
cv::sqrt(descriptors.row(i), descriptors.row(i));
}
}
#else
UWARN("RTAB-Map is not built with OpenCV nonfree module so SIFT cannot be used!");
#endif