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Gating negative octave scaling on decimation

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matlabbe
2026-09-19 17:07:47 -07:00
parent 4a8147b940
commit f1347db4f2
4 changed files with 52 additions and 4 deletions
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corelib/src/Memory.cpp
+5 -2
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@@ -5673,7 +5673,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
kpt.pt.x *= decimationRatio;
kpt.pt.y *= decimationRatio;
kpt.size *= decimationRatio;
kpt.octave += log2value;
// Never below the finest level of the image it is now
// expressed in: the detail it was found at is not in there
// any more, and ORB refuses a negative octave outright.
kpt.octave = std::max(0, int(kpt.octave + log2value));
}
if(useProvided3dPoints)
{
@@ -6263,7 +6266,7 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
kpt.pt.x *= decimationRatio;
kpt.pt.y *= decimationRatio;
kpt.size *= decimationRatio;
kpt.octave += log2value;
kpt.octave = std::max(0, int(kpt.octave + log2value));
}
words.insert(std::make_pair(*iter, words.size()));
wordsKpts.push_back(kpt);