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Fixed bug in KeyPointsFilter::runByImageBorder; added ROI adjustment to ORB

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This commit is contained in:
Andrey Kamaev 2011-10-21 08:38:47 +00:00
parent e8032fa8e9
commit 21a4a06d8a
2 changed files with 47 additions and 6 deletions
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11
modules/features2d/src/keypoint.cpp
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@ -183,10 +183,13 @@ void KeyPointsFilter::runByImageBorder( vector<KeyPoint>& keypoints, Size imageS
{
if( borderSize > 0)
{
keypoints.erase( remove_if(keypoints.begin(), keypoints.end(),
RoiPredicate(Rect(Point(borderSize, borderSize),
Point(imageSize.width - borderSize, imageSize.height - borderSize)))),
keypoints.end() );
if (imageSize.height <= borderSize * 2 || imageSize.width <= borderSize * 2)
keypoints.clear();
else
keypoints.erase( remove_if(keypoints.begin(), keypoints.end(),
RoiPredicate(Rect(Point(borderSize, borderSize),
Point(imageSize.width - borderSize, imageSize.height - borderSize)))),
keypoints.end() );
}
}

42
modules/features2d/src/orb.cpp
View File

@ -530,12 +530,40 @@ void ORB::operator()(const cv::Mat &image, const cv::Mat &mask, std::vector<cv::
* @param do_keypoints if true, the keypoints are computed, otherwise used as an input
* @param do_descriptors if true, also computes the descriptors
*/
void ORB::operator()(const cv::Mat &image_in, const cv::Mat &mask, std::vector<cv::KeyPoint> & keypoints_in_out,
void ORB::operator()(const cv::Mat &_image_in, const cv::Mat &_mask, std::vector<cv::KeyPoint> & keypoints_in_out,
cv::Mat & descriptors, bool do_keypoints, bool do_descriptors)
{
if (((!do_keypoints) && (!do_descriptors)) || (image_in.empty()))
if (((!do_keypoints) && (!do_descriptors)) || (_image_in.empty()))
return;
//ROI handling
cv::Mat image_in(_image_in);
cv::Mat mask(_mask);
Point image_in_roi_offset(0,0);
if (image_in.isSubmatrix())
{
Size image_in_size;
image_in.locateROI(image_in_size, image_in_roi_offset);
image_in_roi_offset.x = image_in_roi_offset.x - std::max(0, image_in_roi_offset.x - params_.edge_threshold_);
image_in_roi_offset.y = image_in_roi_offset.y - std::max(0, image_in_roi_offset.y - params_.edge_threshold_);
image_in.adjustROI(params_.edge_threshold_, params_.edge_threshold_, params_.edge_threshold_, params_.edge_threshold_);
if (!do_keypoints && image_in_roi_offset != Point(0,0))
{
for (std::vector<cv::KeyPoint>::iterator kp = keypoints_in_out.begin(); kp != keypoints_in_out.end(); ++kp)
{
kp->pt.x += image_in_roi_offset.x;
kp->pt.y += image_in_roi_offset.y;
}
}
if (!mask.empty())
copyMakeBorder(_mask, mask,
image_in_roi_offset.y, image_in.rows - image_in_roi_offset.y - mask.rows,
image_in_roi_offset.x, image_in.cols - image_in_roi_offset.x - mask.cols,
cv::BORDER_CONSTANT, Scalar::all(0));
}
cv::Mat image;
if (image_in.type() != CV_8UC1)
cvtColor(image_in, image, CV_BGR2GRAY);
@ -635,6 +663,16 @@ void ORB::operator()(const cv::Mat &image_in, const cv::Mat &mask, std::vector<c
descriptors.push_back(desc);
}
}
//fix ROI offset
if (image_in_roi_offset != Point(0,0))
{
for (std::vector<cv::KeyPoint>::iterator kp = keypoints_in_out.begin(); kp != keypoints_in_out.end(); ++kp)
{
kp->pt.x -= image_in_roi_offset.x;
kp->pt.y -= image_in_roi_offset.y;
}
}
}
//takes keypoints and culls them by the response