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RegVis: fixed Vis/MaxDepth and Vis/MinDepth ignored when features are already extracted.

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matlabbe
2020-04-30 15:07:32 -04:00
parent 5d16ae8cfe
commit 803c99cee2
4 changed files with 69 additions and 98 deletions
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corelib/src/Memory.cpp
+4 -28
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@@ -4469,34 +4469,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
(!data.rightRaw().empty() && data.stereoCameraModel().isValidForProjection())))
{
keypoints3D = _feature2D->generateKeypoints3D(data, keypoints);
if(_feature2D->getMinDepth() > 0.0f || _feature2D->getMaxDepth() > 0.0f)
{
UDEBUG("");
//remove all keypoints/descriptors with no valid 3D points
UASSERT((int)keypoints.size() == descriptors.rows &&
keypoints3D.size() == keypoints.size());
std::vector<cv::KeyPoint> validKeypoints(keypoints.size());
std::vector<cv::Point3f> validKeypoints3D(keypoints.size());
cv::Mat validDescriptors(descriptors.size(), descriptors.type());
int oi=0;
for(unsigned int i=0; i<keypoints3D.size(); ++i)
{
if(util3d::isFinite(keypoints3D[i]))
{
validKeypoints[oi] = keypoints[i];
validKeypoints3D[oi] = keypoints3D[i];
descriptors.row(i).copyTo(validDescriptors.row(oi));
++oi;
}
}
UDEBUG("Removed %d invalid 3D points", (int)keypoints3D.size()-oi);
validKeypoints.resize(oi);
validKeypoints3D.resize(oi);
keypoints = validKeypoints;
keypoints3D = validKeypoints3D;
descriptors = validDescriptors.rowRange(0, oi).clone();
}
}
if(_feature2D->getMinDepth() > 0.0f || _feature2D->getMaxDepth() > 0.0f)
{
_feature2D->filterKeypointsByDepth(keypoints, descriptors, keypoints3D, _feature2D->getMinDepth(), _feature2D->getMaxDepth());
}
t = timer.ticks();
if(stats) stats->addStatistic(Statistics::kTimingMemKeypoints_3D(), t*1000.0f);