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- make sure we deal with a grayscale image

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This commit is contained in:
Vincent Rabaud 2011-06-02 22:58:52 +00:00
parent ff13c9f818
commit 3ed829af71
1 changed files with 5 additions and 4 deletions
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9
modules/features2d/src/orb.cpp
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@ -545,12 +545,16 @@ 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_keypoints if true, the keypoints are computed, otherwise used as an input
* @param do_descriptors if true, also computes the descriptors * @param do_descriptors if true, also computes the descriptors
*/ */
void ORB::operator()(const cv::Mat &image, 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) cv::Mat & descriptors, bool do_keypoints, bool do_descriptors)
{ {
if ((!do_keypoints) && (!do_descriptors)) if ((!do_keypoints) && (!do_descriptors))
return; return;
cv::Mat image;
if (image_in.type() != CV_8UC1)
cvtColor(image_in, image, CV_BGR2GRAY);
if (do_descriptors) if (do_descriptors)
descriptors.release(); descriptors.release();
@ -716,9 +720,6 @@ void ORB::computeKeyPoints(const std::vector<cv::Mat>& image_pyramid, const std:
void ORB::computeOrientation(const cv::Mat& image, const cv::Mat& integral_image, unsigned int scale, void ORB::computeOrientation(const cv::Mat& image, const cv::Mat& integral_image, unsigned int scale,
std::vector<cv::KeyPoint>& keypoints) const std::vector<cv::KeyPoint>& keypoints) const
{ {
// If using the integral image, some offsets will be pre-computed for speed
std::vector<int> horizontal_offsets(8 * half_patch_size_), vertical_offsets(8 * half_patch_size_);
// Process each keypoint // Process each keypoint
for (std::vector<cv::KeyPoint>::iterator keypoint = keypoints.begin(), keypoint_end = keypoints.end(); keypoint for (std::vector<cv::KeyPoint>::iterator keypoint = keypoints.begin(), keypoint_end = keypoints.end(); keypoint
!= keypoint_end; ++keypoint) != keypoint_end; ++keypoint)