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SuperPoint: fixed nms bug

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This commit is contained in:
matlabbe
2020-04-23 20:06:48 -04:00
parent 31e5f7804e
commit e8be3f21fa
1 changed files with 40 additions and 21 deletions
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61
corelib/src/superpoint_torch/SuperPoint.cc
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@@ -255,6 +255,10 @@ void NMS(const std::vector<cv::KeyPoint> & ptsIn,
pts_raw.push_back(cv::Point2f(u, v));
}
//Grid Value Legend:
// 255 : Kept.
// 0 : Empty or suppressed.
// 100 : To be processed (converted to either kept or suppressed).
cv::Mat grid = cv::Mat(cv::Size(img_width, img_height), CV_8UC1);
cv::Mat inds = cv::Mat(cv::Size(img_width, img_height), CV_16UC1);
@@ -269,46 +273,61 @@ void NMS(const std::vector<cv::KeyPoint> & ptsIn,
int uu = (int) pts_raw[i].x;
int vv = (int) pts_raw[i].y;
grid.at<char>(vv, uu) = 1;
grid.at<unsigned char>(vv, uu) = 100;
inds.at<unsigned short>(vv, uu) = i;
confidence.at<float>(vv, uu) = conf.at<float>(i, 0);
}
// debug
//cv::Mat confidenceVis = confidence.clone() * 255;
//confidenceVis.convertTo(confidenceVis, CV_8UC1);
//cv::imwrite("confidence.bmp", confidenceVis);
//cv::imwrite("grid_in.bmp", grid);
cv::copyMakeBorder(grid, grid, dist_thresh, dist_thresh, dist_thresh, dist_thresh, cv::BORDER_CONSTANT, 0);
for (size_t i = 0; i < pts_raw.size(); i++)
{
// account for top left padding
int uu = (int) pts_raw[i].x + dist_thresh;
int vv = (int) pts_raw[i].y + dist_thresh;
float c = confidence.at<float>(vv-dist_thresh, uu-dist_thresh);
if (grid.at<char>(vv, uu) != 1)
continue;
if (grid.at<unsigned char>(vv, uu) == 100) // If not yet suppressed.
{
for(int k = -dist_thresh; k < (dist_thresh+1); k++)
{
for(int j = -dist_thresh; j < (dist_thresh+1); j++)
{
if(j==0 && k==0)
continue;
for(int k = -dist_thresh; k < (dist_thresh+1); k++)
for(int j = -dist_thresh; j < (dist_thresh+1); j++)
{
if(j==0 && k==0) continue;
if ( conf.at<float>(vv + k, uu + j) < conf.at<float>(vv, uu) )
grid.at<char>(vv + k, uu + j) = 0;
}
grid.at<char>(vv, uu) = 2;
if ( confidence.at<float>(vv + k - dist_thresh, uu + j - dist_thresh) <= c )
{
grid.at<unsigned char>(vv + k, uu + j) = 0;
}
}
}
grid.at<unsigned char>(vv, uu) = 255;
}
}
size_t valid_cnt = 0;
std::vector<int> select_indice;
for (int v = 0; v < (img_height + dist_thresh); v++){
for (int u = 0; u < (img_width + dist_thresh); u++)
{
if (u -dist_thresh>= (img_width - border) || u-dist_thresh < border || v-dist_thresh >= (img_height - border) || v-dist_thresh < border)
continue;
grid = cv::Mat(grid, cv::Rect(dist_thresh, dist_thresh, img_width, img_height));
if (grid.at<char>(v,u) == 2)
//debug
//cv::imwrite("grid_nms.bmp", grid);
for (int v = 0; v < img_height; v++)
{
for (int u = 0; u < img_width; u++)
{
if (grid.at<unsigned char>(v,u) == 255)
{
int select_ind = (int) inds.at<unsigned short>(v-dist_thresh, u-dist_thresh);
int select_ind = (int) inds.at<unsigned short>(v, u);
float response = conf.at<float>(select_ind, 0);
ptsOut.push_back(cv::KeyPoint(pts_raw[select_ind], 8.0f, -1, response));