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fixed bug in ORB_GPU, behavior in the absence of keypoints found (Bug #1831)

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This commit is contained in:
Vladislav Vinogradov 2012-04-24 13:18:34 +00:00
parent 70f8b8b5ec
commit 5bafb372af
1 changed files with 37 additions and 25 deletions
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12
modules/gpu/src/orb.cpp
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@ -568,11 +568,17 @@ void cv::gpu::ORB_GPU::computeKeyPointsPyramid()
{ {
keyPointsCount_[level] = fastDetector_.calcKeyPointsLocation(imagePyr_[level], maskPyr_[level]); keyPointsCount_[level] = fastDetector_.calcKeyPointsLocation(imagePyr_[level], maskPyr_[level]);
if (keyPointsCount_[level] == 0)
continue;
ensureSizeIsEnough(3, keyPointsCount_[level], CV_32FC1, keyPointsPyr_[level]); ensureSizeIsEnough(3, keyPointsCount_[level], CV_32FC1, keyPointsPyr_[level]);
GpuMat fastKpRange = keyPointsPyr_[level].rowRange(0, 2); GpuMat fastKpRange = keyPointsPyr_[level].rowRange(0, 2);
keyPointsCount_[level] = fastDetector_.getKeyPoints(fastKpRange); keyPointsCount_[level] = fastDetector_.getKeyPoints(fastKpRange);
if (keyPointsCount_[level] == 0)
continue;
int n_features = static_cast<int>(n_features_per_level_[level]); int n_features = static_cast<int>(n_features_per_level_[level]);
if (scoreType_ == ORB::HARRIS_SCORE) if (scoreType_ == ORB::HARRIS_SCORE)
@ -613,6 +619,9 @@ void cv::gpu::ORB_GPU::computeDescriptors(GpuMat& descriptors)
for (int level = 0; level < nLevels_; ++level) for (int level = 0; level < nLevels_; ++level)
{ {
if (keyPointsCount_[level] == 0)
continue;
GpuMat descRange = descriptors.rowRange(offset, offset + keyPointsCount_[level]); GpuMat descRange = descriptors.rowRange(offset, offset + keyPointsCount_[level]);
if (blurForDescriptor) if (blurForDescriptor)
@ -650,6 +659,9 @@ void cv::gpu::ORB_GPU::mergeKeyPoints(GpuMat& keypoints)
for (int level = 0; level < nLevels_; ++level) for (int level = 0; level < nLevels_; ++level)
{ {
if (keyPointsCount_[level] == 0)
continue;
float sf = getScale(scaleFactor_, firstLevel_, level); float sf = getScale(scaleFactor_, firstLevel_, level);
GpuMat keyPointsRange = keypoints.colRange(offset, offset + keyPointsCount_[level]); GpuMat keyPointsRange = keypoints.colRange(offset, offset + keyPointsCount_[level]);