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Add missing filterKeypointsByDepth step (#1150)

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* add missing filterKeypointsByDepth step

* Fix ORBOctree not using the depth mask

---------

Co-authored-by: matlabbe <[email protected]>
This commit is contained in:
Borong Yuan
2023-10-26 13:15:34 -07:00
committed by GitHub
co-authored by matlabbe
parent 64962e8e3d
commit 8da6ea1707
2 changed files with 27 additions and 5 deletions
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corelib/src/Features2d.cpp
+23 -5
View File
@@ -732,19 +732,19 @@ std::vector<cv::KeyPoint> Feature2D::generateKeypoints(const cv::Mat & image, co
for (int j = 0; j<gridCols_; ++j) for (int j = 0; j<gridCols_; ++j)
{ {
cv::Rect roi(globalRoi.x + j*colSize, globalRoi.y + i*rowSize, colSize, rowSize); cv::Rect roi(globalRoi.x + j*colSize, globalRoi.y + i*rowSize, colSize, rowSize);
std::vector<cv::KeyPoint> sub_keypoints; std::vector<cv::KeyPoint> subKeypoints;
sub_keypoints = this->generateKeypointsImpl(image, roi, mask); subKeypoints = this->generateKeypointsImpl(image, roi, mask);
limitKeypoints(sub_keypoints, maxFeatures); limitKeypoints(subKeypoints, maxFeatures);
if(roi.x || roi.y) if(roi.x || roi.y)
{ {
// Adjust keypoint position to raw image // Adjust keypoint position to raw image
for(std::vector<cv::KeyPoint>::iterator iter=sub_keypoints.begin(); iter!=sub_keypoints.end(); ++iter) for(std::vector<cv::KeyPoint>::iterator iter=subKeypoints.begin(); iter!=subKeypoints.end(); ++iter)
{ {
iter->pt.x += roi.x; iter->pt.x += roi.x;
iter->pt.y += roi.y; iter->pt.y += roi.y;
} }
} }
keypoints.insert( keypoints.end(), sub_keypoints.begin(), sub_keypoints.end() ); keypoints.insert( keypoints.end(), subKeypoints.begin(), subKeypoints.end() );
} }
} }
UDEBUG("Keypoints extraction time = %f s, keypoints extracted = %d (grid=%dx%d, mask empty=%d)", UDEBUG("Keypoints extraction time = %f s, keypoints extracted = %d (grid=%dx%d, mask empty=%d)",
@@ -2119,6 +2119,24 @@ std::vector<cv::KeyPoint> ORBOctree::generateKeypointsImpl(const cv::Mat & image
(*_orb)(imgRoi, maskRoi, keypoints, descriptors_); (*_orb)(imgRoi, maskRoi, keypoints, descriptors_);
// OrbOctree ignores the mask, so we have to apply it manually here
if(!keypoints.empty() && !maskRoi.empty())
{
std::vector<cv::KeyPoint> validKeypoints;
validKeypoints.reserve(keypoints.size());
cv::Mat validDescriptors;
for(size_t i=0; i<keypoints.size(); ++i)
{
if(maskRoi.at<unsigned char>(keypoints[i].pt.y+roi.y, keypoints[i].pt.x+roi.x) != 0)
{
validKeypoints.push_back(keypoints[i]);
validDescriptors.push_back(descriptors_.row(i));
}
}
keypoints = validKeypoints;
descriptors_ = validDescriptors;
}
if((int)keypoints.size() > this->getMaxFeatures()) if((int)keypoints.size() > this->getMaxFeatures())
{ {
limitKeypoints(keypoints, descriptors_, this->getMaxFeatures()); limitKeypoints(keypoints, descriptors_, this->getMaxFeatures());
corelib/src/Memory.cpp
+4
View File
@@ -4970,6 +4970,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
if(stats) stats->addStatistic(Statistics::kTimingMemKeypoints_3D(), t*1000.0f); if(stats) stats->addStatistic(Statistics::kTimingMemKeypoints_3D(), t*1000.0f);
UDEBUG("time keypoints 3D (%d) = %fs", (int)keypoints3D.size(), t); UDEBUG("time keypoints 3D (%d) = %fs", (int)keypoints3D.size(), t);
} }
if(depthMask.empty() && (_feature2D->getMinDepth() > 0.0f || _feature2D->getMaxDepth() > 0.0f))
{
_feature2D->filterKeypointsByDepth(keypoints, descriptors, keypoints3D, _feature2D->getMinDepth(), _feature2D->getMaxDepth());
}
} }
} }
else if(data.imageRaw().empty()) else if(data.imageRaw().empty())