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Add missing filterKeypointsByDepth step #1150

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merged 2 commits into from
Oct 26, 2023
+27 −5
Merged

Add missing filterKeypointsByDepth step #1150

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699fe17
add missing filterKeypointsByDepth step
borongyuan Oct 24, 2023
b8afb1d
Fix ORBOctree not using the depth mask
matlabbe Oct 25, 2023
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28 changes: 23 additions & 5 deletions corelib/src/Features2d.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -732,19 +732,19 @@ std::vector<cv::KeyPoint> Feature2D::generateKeypoints(const cv::Mat & image, co
for (int j = 0; j<gridCols_; ++j)
{
cv::Rect roi(globalRoi.x + j*colSize, globalRoi.y + i*rowSize, colSize, rowSize);
std::vector<cv::KeyPoint> sub_keypoints;
sub_keypoints = this->generateKeypointsImpl(image, roi, mask);
limitKeypoints(sub_keypoints, maxFeatures);
std::vector<cv::KeyPoint> subKeypoints;
subKeypoints = this->generateKeypointsImpl(image, roi, mask);
limitKeypoints(subKeypoints, maxFeatures);
if(roi.x || roi.y)
{
// Adjust keypoint position to raw image
for(std::vector<cv::KeyPoint>::iterator iter=sub_keypoints.begin(); iter!=sub_keypoints.end(); ++iter)
for(std::vector<cv::KeyPoint>::iterator iter=subKeypoints.begin(); iter!=subKeypoints.end(); ++iter)
{
iter->pt.x += roi.x;
iter->pt.y += roi.y;
}
}
keypoints.insert( keypoints.end(), sub_keypoints.begin(), sub_keypoints.end() );
keypoints.insert( keypoints.end(), subKeypoints.begin(), subKeypoints.end() );
}
}
UDEBUG("Keypoints extraction time = %f s, keypoints extracted = %d (grid=%dx%d, mask empty=%d)",
Expand Down Expand Up @@ -2119,6 +2119,24 @@ std::vector<cv::KeyPoint> ORBOctree::generateKeypointsImpl(const cv::Mat & image

(*_orb)(imgRoi, maskRoi, keypoints, descriptors_);

// OrbOctree ignores the mask, so we have to apply it manually here
if(!keypoints.empty() && !maskRoi.empty())
{
std::vector<cv::KeyPoint> validKeypoints;
validKeypoints.reserve(keypoints.size());
cv::Mat validDescriptors;
for(size_t i=0; i<keypoints.size(); ++i)
{
if(maskRoi.at<unsigned char>(keypoints[i].pt.y+roi.y, keypoints[i].pt.x+roi.x) != 0)
{
validKeypoints.push_back(keypoints[i]);
validDescriptors.push_back(descriptors_.row(i));
}
}
keypoints = validKeypoints;
descriptors_ = validDescriptors;
}

if((int)keypoints.size() > this->getMaxFeatures())
{
limitKeypoints(keypoints, descriptors_, this->getMaxFeatures());
Expand Down
4 changes: 4 additions & 0 deletions corelib/src/Memory.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4970,6 +4970,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
if(stats) stats->addStatistic(Statistics::kTimingMemKeypoints_3D(), t*1000.0f);
UDEBUG("time keypoints 3D (%d) = %fs", (int)keypoints3D.size(), t);
}
if(depthMask.empty() && (_feature2D->getMinDepth() > 0.0f || _feature2D->getMaxDepth() > 0.0f))
{
_feature2D->filterKeypointsByDepth(keypoints, descriptors, keypoints3D, _feature2D->getMinDepth(), _feature2D->getMaxDepth());
}
}
}
else if(data.imageRaw().empty())
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