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Decimation parameters for feature detection cannot be negative anymore (always done based to RGB image and depth image is decimated only if it is bigger than decimated rgb image). MainWindow: fixed light blue screen-only on full rehearsal merge.

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matlabbe
2021-06-25 12:54:52 -04:00
parent be24203840
commit eabf3e3d57
9 changed files with 112 additions and 69 deletions
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corelib/src/Odometry.cpp
+19 -21
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@@ -559,19 +559,17 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
UTimer time;
Transform t;
int decimationRgb = abs(_imageDecimation);
if((_imageDecimation > 1 || _imageDecimation < -1) && !data.imageRaw().empty())
if(_imageDecimation > 1 && !data.imageRaw().empty())
{
// Decimation of images with calibrations
SensorData decimatedData = data;
int decimationDepth = abs(_imageDecimation);
if(_imageDecimation<0 &&
!data.cameraModels().empty() &&
int decimationDepth = _imageDecimation;
if( !data.cameraModels().empty() &&
data.cameraModels()[0].imageHeight()>0 &&
data.cameraModels()[0].imageWidth()>0)
{
// decimate from RGB image size
int targetSize = data.cameraModels()[0].imageHeight() / decimationRgb;
int targetSize = data.cameraModels()[0].imageHeight() / _imageDecimation;
if(targetSize >= data.depthRaw().rows)
{
decimationDepth = 1;
@@ -581,14 +579,14 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
decimationDepth = (int)ceil(float(data.depthRaw().rows) / float(targetSize));
}
}
UDEBUG("decimation rgbOrLeft(rows=%d)=%d, depthOrRight(rows=%d)=%d", data.imageRaw().rows, decimationRgb, data.depthOrRightRaw().rows, decimationDepth);
UDEBUG("decimation rgbOrLeft(rows=%d)=%d, depthOrRight(rows=%d)=%d", data.imageRaw().rows, _imageDecimation, data.depthOrRightRaw().rows, decimationDepth);
cv::Mat rgbLeft = util2d::decimate(decimatedData.imageRaw(), decimationRgb);
cv::Mat rgbLeft = util2d::decimate(decimatedData.imageRaw(), _imageDecimation);
cv::Mat depthRight = util2d::decimate(decimatedData.depthOrRightRaw(), decimationDepth);
std::vector<CameraModel> cameraModels = decimatedData.cameraModels();
for(unsigned int i=0; i<cameraModels.size(); ++i)
{
cameraModels[i] = cameraModels[i].scaled(1.0/double(decimationRgb));
cameraModels[i] = cameraModels[i].scaled(1.0/double(_imageDecimation));
}
if(!cameraModels.empty())
{
@@ -599,7 +597,7 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
StereoCameraModel stereoModel = decimatedData.stereoCameraModel();
if(stereoModel.isValidForProjection())
{
stereoModel.scale(1.0/double(decimationRgb));
stereoModel.scale(1.0/double(_imageDecimation));
}
decimatedData.setStereoImage(rgbLeft, depthRight, stereoModel);
}
@@ -610,12 +608,12 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
// transform back the keypoints in the original image
std::vector<cv::KeyPoint> kpts = decimatedData.keypoints();
double log2value = log(double(decimationRgb))/log(2.0);
double log2value = log(double(_imageDecimation))/log(2.0);
for(unsigned int i=0; i<kpts.size(); ++i)
{
kpts[i].pt.x *= decimationRgb;
kpts[i].pt.y *= decimationRgb;
kpts[i].size *= decimationRgb;
kpts[i].pt.x *= _imageDecimation;
kpts[i].pt.y *= _imageDecimation;
kpts[i].size *= _imageDecimation;
kpts[i].octave += log2value;
}
data.setFeatures(kpts, decimatedData.keypoints3D(), decimatedData.descriptors());
@@ -626,19 +624,19 @@ Transform Odometry::process(SensorData & data, const Transform & guessIn, Odomet
UASSERT(info->newCorners.size() == info->refCorners.size() || info->refCorners.empty());
for(unsigned int i=0; i<info->newCorners.size(); ++i)
{
info->refCorners[i].x *= decimationRgb;
info->refCorners[i].y *= decimationRgb;
info->refCorners[i].x *= _imageDecimation;
info->refCorners[i].y *= _imageDecimation;
if(!info->refCorners.empty())
{
info->newCorners[i].x *= decimationRgb;
info->newCorners[i].y *= decimationRgb;
info->newCorners[i].x *= _imageDecimation;
info->newCorners[i].y *= _imageDecimation;
}
}
for(std::multimap<int, cv::KeyPoint>::iterator iter=info->words.begin(); iter!=info->words.end(); ++iter)
{
iter->second.pt.x *= decimationRgb;
iter->second.pt.y *= decimationRgb;
iter->second.size *= decimationRgb;
iter->second.pt.x *= _imageDecimation;
iter->second.pt.y *= _imageDecimation;
iter->second.size *= _imageDecimation;
iter->second.octave += log2value;
}
}