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CudaSIFT: using abs(sharpness) instead of sharpness as response value (this slightly change how most significant features are retained with Vis/MaxFeatures or Kp/MaxFeatures). OptimizerTORO: changed a fatal log to error log when loading a link with not existing poses.

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This commit is contained in:
matlabbe
2026-02-05 15:45:29 -08:00
parent e23c38f471
commit b47c4093a6
3 changed files with 5 additions and 3 deletions
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4
corelib/src/Features2d.cpp
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@@ -1414,7 +1414,7 @@ std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, con
}
//Keep track of the data, to be easier to manage the data in the next step
hessianMap.insert(std::pair<float, int>(cudaSiftData_->h_data[i].sharpness, i));
hessianMap.insert(std::pair<float, int>(abs(cudaSiftData_->h_data[i].sharpness), i));
}
if((int)hessianMap.size() < maxKeypoints)
@@ -1434,7 +1434,7 @@ std::vector<cv::KeyPoint> SIFT::generateKeypointsImpl(const cv::Mat & image, con
keypoints[k].pt.y = cudaSiftData_->h_data[i].ypos;
keypoints[k].size = 2.0f*cudaSiftData_->h_data[i].scale; // x2 because the scale is more like a radius than a diameter, see CudaSift's ExtractSiftDescriptors function to see how they convert scale to patch size
keypoints[k].angle = cudaSiftData_->h_data[i].orientation;
keypoints[k].response = cudaSiftData_->h_data[i].sharpness;
keypoints[k].response = abs(cudaSiftData_->h_data[i].sharpness);
keypoints[k].octave = log2(cudaSiftData_->h_data[i].subsampling)-(upscale_?1:0);
}
}

2
corelib/src/RegistrationVis.cpp
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@@ -2184,6 +2184,8 @@ Transform RegistrationVis::computeTransformationImpl(
// We take the second eigen value
info.inliersDistribution = pca_analysis.eigenvalues.at<float>(0, 1);
UDEBUG("Visual distribution: %f (eigen values = %f %f)", info.inliersDistribution, pca_analysis.eigenvalues.at<float>(0, 0), pca_analysis.eigenvalues.at<float>(0, 1));
if(info.inliersDistribution < _minInliersDistributionThr)
{
msg = uFormat("The distribution (%f) of inliers is under %s threshold (%f)",

2
corelib/src/optimizer/OptimizerTORO.cpp
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@@ -543,7 +543,7 @@ bool OptimizerTORO::loadGraph(
}
else
{
UFATAL("Referred poses from the link not exist!");
UERROR("Referred poses from the link (%d->%d) don't exist! Link ignored!", idFrom, idTo);
}
}
else if(strList.size())