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RegVis: fixed orboctree descriptor extractions. KeypointItem: fixed placeholder gray scale for yellow features.

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matlabbe
2019-04-22 19:50:41 -04:00
parent 191de5baea
commit d4585960fc
3 changed files with 60 additions and 29 deletions
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corelib/src/Memory.cpp
+4 -2
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@@ -4142,7 +4142,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
int preDecimation = 1;
std::vector<cv::Point3f> keypoints3D;
SensorData decimatedData;
if(!_useOdometryFeatures || data.keypoints().empty() || (int)data.keypoints().size() != data.descriptors().rows)
if(!_useOdometryFeatures ||
data.keypoints().empty() ||
(int)data.keypoints().size() != data.descriptors().rows ||
(_feature2D->getType() == Feature2D::kFeatureOrbOctree && data.descriptors().empty()))
{
if(_feature2D->getMaxFeatures() >= 0 && !data.imageRaw().empty() && !isIntermediateNode)
{
@@ -4423,7 +4426,6 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
}
UASSERT_MSG(imagesRectified, "Cannot extract descriptors on not rectified image from keypoints which assumed to be undistorted");
descriptors = _feature2D->generateDescriptors(imageMono, keypoints);
}
t = timer.ticks();