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Improved log error when ROI is set with SuperPoint (https://github.com/introlab/rtabmap_ros/issues/676)

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matlabbe
2021-11-14 20:26:42 -05:00
parent dbecaac809
commit 7af2a27e89
1 changed files with 12 additions and 1 deletions
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corelib/src/Features2d.cpp
+12 -1
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@@ -2089,7 +2089,18 @@ std::vector<cv::KeyPoint> SuperPointTorch::generateKeypointsImpl(const cv::Mat &
{ {
#ifdef RTABMAP_TORCH #ifdef RTABMAP_TORCH
UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U); UASSERT(!image.empty() && image.channels() == 1 && image.depth() == CV_8U);
UASSERT_MSG(roi.x==0 && roi.y ==0, "Not supporting ROI"); if(roi.x!=0 || roi.y !=0)
{
UERROR("SuperPoint: Not supporting ROI (%d,%d,%d,%d). Make sure %s, %s, %s, %s, %s, %s are all set to default values.",
roi.x, roi.y, roi.width, roi.height,
Parameters::kKpRoiRatios().c_str(),
Parameters::kVisRoiRatios().c_str(),
Parameters::kVisGridRows().c_str(),
Parameters::kVisGridCols().c_str(),
Parameters::kKpGridRows().c_str(),
Parameters::kKpGridCols().c_str());
return std::vector<cv::KeyPoint>();
}
return superPoint_->detect(image, mask); return superPoint_->detect(image, mask);
#else #else
UWARN("RTAB-Map is not built with Torch support so SuperPoint Torch feature cannot be used!"); UWARN("RTAB-Map is not built with Torch support so SuperPoint Torch feature cannot be used!");