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Memory: Fixed features with no id (-1) ignored for triangulation from motion. Dictionary: matching with negative word ids is now allowed

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This commit is contained in:
matlabbe
2018-07-26 20:41:54 -04:00
parent cfdee23d33
commit b63590bf1d
5 changed files with 37 additions and 42 deletions
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corelib/src/VWDictionary.cpp
+16 -21
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@@ -601,21 +601,18 @@ int VWDictionary::getNextId()
void VWDictionary::addWordRef(int wordId, int signatureId)
{
if(signatureId > 0)
VisualWord * vw = 0;
vw = uValue(_visualWords, wordId, vw);
if(vw)
{
VisualWord * vw = 0;
vw = uValue(_visualWords, wordId, vw);
if(vw)
{
vw->addRef(signatureId);
_totalActiveReferences += 1;
vw->addRef(signatureId);
_totalActiveReferences += 1;
_unusedWords.erase(vw->id());
}
else
{
UERROR("Not found word %d (dict size=%d)", wordId, (int)_visualWords.size());
}
_unusedWords.erase(vw->id());
}
else
{
UERROR("Not found word %d (dict size=%d)", wordId, (int)_visualWords.size());
}
}
@@ -636,8 +633,6 @@ void VWDictionary::removeAllWordRef(int wordId, int signatureId)
std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptorsIn,
int signatureId)
{
UASSERT(signatureId > 0);
UDEBUG("id=%d descriptors=%d", signatureId, descriptorsIn.rows);
UTimer timer;
std::list<int> wordIds;
@@ -818,7 +813,7 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptorsIn,
index = *((size_t*)&results.at<int>(i, j));
}
int id = uValue(_mapIndexId, index);
if(d >= 0.0f && id > 0)
if(d >= 0.0f && id != 0)
{
fullResults.insert(std::pair<float, int>(d, id));
}
@@ -834,7 +829,7 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptorsIn,
{
float d = matches.at(i).at(j).distance;
int id = uValue(_mapIndexId, matches.at(i).at(j).trainIdx);
if(d >= 0.0f && id > 0)
if(d >= 0.0f && id != 0)
{
fullResults.insert(std::pair<float, int>(d, id));
}
@@ -857,7 +852,7 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptorsIn,
{
float d = matchesNewWords.at(0).at(j).distance;
int id = newWordsId[matchesNewWords.at(0).at(j).trainIdx];
if(d >= 0.0f && id > 0)
if(d >= 0.0f && id != 0)
{
fullResults.insert(std::pair<float, int>(d, id));
}
@@ -1176,7 +1171,7 @@ std::vector<int> VWDictionary::findNN(const cv::Mat & queryIn) const
index = *((size_t*)&results.at<int>(i, j));
}
int id = uValue(_mapIndexId, index);
if(d >= 0.0f && id > 0)
if(d >= 0.0f && id != 0)
{
fullResults.insert(std::pair<float, int>(d, id));
}
@@ -1188,7 +1183,7 @@ std::vector<int> VWDictionary::findNN(const cv::Mat & queryIn) const
{
float d = matches.at(i).at(j).distance;
int id = uValue(_mapIndexId, matches.at(i).at(j).trainIdx);
if(d >= 0.0f && id > 0)
if(d >= 0.0f && id != 0)
{
fullResults.insert(std::pair<float, int>(d, id));
}
@@ -1202,7 +1197,7 @@ std::vector<int> VWDictionary::findNN(const cv::Mat & queryIn) const
{
float d = matchesNotIndexed.at(i).at(j).distance;
int id = uValue(mapIndexIdNotIndexed, matchesNotIndexed.at(i).at(j).trainIdx);
if(d >= 0.0f && id > 0)
if(d >= 0.0f && id != 0)
{
fullResults.insert(std::pair<float, int>(d, id));
}