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SuperPoint: return at minimum 2 features or 0 (fixed crash when only one feature). Python: added main python instance from Rtabmap object (to get python instancied once for ROS). MultiSessionWidget: Fixed layout warning. Memory::computeTransform() avoid re-instanciating RegistrationVis when Reg/Strategy=1 for guess transform (to fix PyMatcher re-initialized every time). CMake: added video module to opencv required components.

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This commit is contained in:
matlabbe
2022-02-15 01:28:38 -05:00
parent 578c19cc38
commit 9bd758a62c
10 changed files with 87 additions and 23 deletions
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17
corelib/src/superpoint_torch/SuperPoint.cc
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@@ -198,11 +198,20 @@ std::vector<cv::KeyPoint> SPDetector::detect(const cv::Mat &img, const cv::Mat &
std::vector<cv::KeyPoint> keypoints;
cv::Mat descEmpty;
NMS(keypoints_no_nms, conf, descEmpty, keypoints, descEmpty, border, dist_thresh, width, height);
return keypoints;
if(keypoints.size()>1)
{
return keypoints;
}
return std::vector<cv::KeyPoint>();
}
else {
else if(keypoints_no_nms.size()>1)
{
return keypoints_no_nms;
}
else
{
return std::vector<cv::KeyPoint>();
}
}
else
{
@@ -218,6 +227,10 @@ cv::Mat SPDetector::compute(const std::vector<cv::KeyPoint> &keypoints)
UERROR("SPDetector has been reset before extracting the descriptors! detect() should be called before compute().");
return cv::Mat();
}
if(keypoints.empty())
{
return cv::Mat();
}
if(model_.get())
{
cv::Mat kpt_mat(keypoints.size(), 2, CV_32F); // [n_keypoints, 2] (y, x)