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added keypoints3 field to Image class

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1652 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-08-14 20:29:43 +00:00
parent 7cf89b6d76
commit 9aca634b28
6 changed files with 272 additions and 58 deletions
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corelib/src/Memory.cpp
+21 -17
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@@ -2906,6 +2906,7 @@ Signature * Memory::createSignature(const Image & image, bool keepRawData)
UTimer timer;
timer.start();
std::vector<cv::KeyPoint> keypoints;
std::vector<cv::Point3f> keypoints3;
cv::Mat descriptors;
int id = image.id();
if(_generateIds)
@@ -2958,9 +2959,18 @@ Signature * Memory::createSignature(const Image & image, bool keepRawData)
UASSERT(image.descriptors().type() == CV_32F || image.descriptors().type() == CV_8U);
descriptors = image.descriptors();
keypoints = image.keypoints();
keypoints3 = image.keypoints3();
}
if(keypoints3.size())
{
filterKeypointsByDepth(keypoints, keypoints3, descriptors, _wordsMaxDepth);
limitKeypoints(keypoints, keypoints3, descriptors, _wordsPerImageTarget);
}
else
{
filterKeypointsByDepth(keypoints, descriptors, image.depth(), image.depthFx(), image.depthFy(), image.depthCx(), image.depthCy(), _wordsMaxDepth);
limitKeypoints(keypoints, descriptors, _wordsPerImageTarget);
}
filterKeypointsByDepth(keypoints, descriptors, image.depth(), image.depthFx(), image.depthFy(), image.depthCx(), image.depthCy(), _wordsMaxDepth);
limitKeypoints(keypoints, descriptors, _wordsPerImageTarget);
}
else
{
@@ -3011,30 +3021,24 @@ Signature * Memory::createSignature(const Image & image, bool keepRawData)
}
std::multimap<int, cv::KeyPoint> words;
std::multimap<int, pcl::PointXYZ> words3;
if(wordIds.size() > 0)
{
std::vector<cv::KeyPoint>::iterator kpIter = keypoints.begin();
for(std::list<int>::iterator iter=wordIds.begin(); iter!=wordIds.end(); ++iter)
UASSERT(wordIds.size() == keypoints.size());
unsigned int i=0;
for(std::list<int>::iterator iter=wordIds.begin(); iter!=wordIds.end() && i < keypoints.size(); ++iter, ++i)
{
if(kpIter != keypoints.end())
words.insert(std::pair<int, cv::KeyPoint>(*iter, keypoints[i]));
if(i < keypoints3.size())
{
words.insert(std::pair<int, cv::KeyPoint >(*iter, *kpIter));
++kpIter;
}
else
{
if(keypoints.size())
{
UWARN("Words (%d) and keypoints(%d) are not the same size ?!?", (int)wordIds.size(), (int)keypoints.size());
}
words.insert(std::pair<int, cv::KeyPoint >(*iter, cv::KeyPoint()));
words3.insert(std::pair<int, pcl::PointXYZ>(*iter, pcl::PointXYZ(keypoints3[i].x, keypoints3[i].y, keypoints3[i].z)));
}
}
}
UASSERT(keypoints3.size() == 0 || words3.size() == words.size());
//3d words
std::multimap<int, pcl::PointXYZ> words3;
if(!image.depth().empty() && image.depthFx() && image.depthFy())
if(words3.size() == 0 && !image.depth().empty() && image.depthFx() && image.depthFy())
{
words3 = util3d::generateWords3(words, image.depth(), image.depthFx(), image.depthFy(), image.depthCx(), image.depthCy(), image.localTransform());
}