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Fixed #1262

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This commit is contained in:
matlabbe
2024-04-13 16:42:58 -07:00
parent a55b4203cd
commit 6a6913c939
1 changed files with 15 additions and 2 deletions
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17
corelib/src/Memory.cpp
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@@ -5344,9 +5344,17 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
{
UASSERT((int)keypoints.size() == descriptors.rows);
int inliersCount = 0;
if(_feature2D->getGridRows() > 1 || _feature2D->getGridCols() > 1)
if((_feature2D->getGridRows() > 1 || _feature2D->getGridCols() > 1) &&
(decimatedData.cameraModels().size()==1 || decimatedData.stereoCameraModels().size()==1 ||
data.cameraModels().size()==1 || data.stereoCameraModels().size()==1))
{
Feature2D::limitKeypoints(keypoints, inliers, _feature2D->getMaxFeatures(), decimatedData.imageRaw().size(), _feature2D->getGridRows(), _feature2D->getGridCols());
Feature2D::limitKeypoints(keypoints,
inliers,
_feature2D->getMaxFeatures(),
decimatedData.cameraModels().size()?decimatedData.cameraModels()[0].imageSize():
decimatedData.stereoCameraModels().size()?decimatedData.stereoCameraModels()[0].left().imageSize():
data.cameraModels().size()?data.cameraModels()[0].imageSize():data.stereoCameraModels()[0].left().imageSize(),
_feature2D->getGridRows(), _feature2D->getGridCols());
for(size_t i=0; i<inliers.size(); ++i)
{
if(inliers[i])
@@ -5357,6 +5365,11 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
}
else
{
if(_feature2D->getGridRows() > 1 || _feature2D->getGridCols() > 1)
{
UWARN("Ignored %s and %s parameters as they cannot be used for multi-cameras setup or uncalibrated camera.",
Parameters::kKpGridCols().c_str(), Parameters::kKpGridRows().c_str());
}
Feature2D::limitKeypoints(keypoints, inliers, _feature2D->getMaxFeatures());
inliersCount = _feature2D->getMaxFeatures();
}