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Odom: support features-only frames (#1767)

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* Odom: support features-only frames

* odom: fixed input keypoint scaling when Odom/Decimation is used

* fixing octave scaling when decimating image in Memory

* Gating negative octave scaling on decimation

* backward compatibility with octave issue

* narrowing the change, cleanup comments

* fixing corrupted file copy on windows
This commit is contained in:
matlabbe
2026-09-19 23:48:45 -07:00
committed by GitHub
parent 1fe713cc1f
commit 9ed83a71db
9 changed files with 234 additions and 10 deletions
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corelib/src/SensorCaptureThread.cpp
+1 -1
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@@ -700,7 +700,7 @@ void SensorCaptureThread::postUpdate(SensorData * dataPtr, SensorCaptureInfo * i
kpts[i].pt.x /= _imageDecimation;
kpts[i].pt.y /= _imageDecimation;
kpts[i].size /= _imageDecimation;
kpts[i].octave -= log2value;
kpts[i].octave = std::max(0, int(kpts[i].octave - log2value));
}
data.setFeatures(kpts, data.keypoints3D(), data.descriptors());
}