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Updated illumination invariant paper documentation

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This commit is contained in:
matlabbe
2022-06-26 20:46:08 -07:00
parent bc42bc3520
commit 83c1adfd1e
41 changed files with 991 additions and 616 deletions
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corelib/src/DBReader.cpp
+9 -4
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@@ -51,7 +51,8 @@ DBReader::DBReader(const std::string & databasePath,
int cameraIndex,
int stopId,
bool intermediateNodesIgnored,
bool landmarksIgnored) :
bool landmarksIgnored,
bool featuresIgnored) :
Camera(frameRate),
_paths(uSplit(databasePath, ';')),
_odometryIgnored(odometryIgnored),
@@ -62,6 +63,7 @@ DBReader::DBReader(const std::string & databasePath,
_cameraIndex(cameraIndex),
_intermediateNodesIgnored(intermediateNodesIgnored),
_landmarksIgnored(landmarksIgnored),
_featuresIgnored(featuresIgnored),
_dbDriver(0),
_currentId(_ids.end()),
_previousMapId(-1),
@@ -84,7 +86,8 @@ DBReader::DBReader(const std::list<std::string> & databasePaths,
int cameraIndex,
int stopId,
bool intermediateNodesIgnored,
bool landmarksIgnored) :
bool landmarksIgnored,
bool featuresIgnored) :
Camera(frameRate),
_paths(databasePaths),
_odometryIgnored(odometryIgnored),
@@ -95,6 +98,7 @@ DBReader::DBReader(const std::list<std::string> & databasePaths,
_cameraIndex(cameraIndex),
_intermediateNodesIgnored(intermediateNodesIgnored),
_landmarksIgnored(landmarksIgnored),
_featuresIgnored(featuresIgnored),
_dbDriver(0),
_currentId(_ids.end()),
_previousMapId(-1),
@@ -569,13 +573,14 @@ SensorData DBReader::getNextData(CameraInfo * info)
cv::Mat descriptors = s->getWordsDescriptors().clone();
const std::vector<cv::KeyPoint> & keypoints = s->getWordsKpts();
const std::vector<cv::Point3f> & keypoints3D = s->getWords3();
if(!keypoints.empty() &&
if(!_featuresIgnored &&
!keypoints.empty() &&
(keypoints3D.empty() || keypoints.size() == keypoints3D.size()) &&
(descriptors.empty() || (int)keypoints.size() == descriptors.rows))
{
data.setFeatures(keypoints, keypoints3D, descriptors);
}
else if(!keypoints.empty() && (!keypoints3D.empty() || !descriptors.empty()))
else if(!_featuresIgnored && !keypoints.empty() && (!keypoints3D.empty() || !descriptors.empty()))
{
UERROR("Missing feature data, features won't be published.");
}