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- make sure we rescale the input keypoints

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This commit is contained in:
Vincent Rabaud 2011-06-01 03:25:53 +00:00
parent 211c112b91
commit 7ca26c040f
1 changed files with 17 additions and 15 deletions
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30
modules/features2d/src/orb.cpp
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@ -578,6 +578,19 @@ void ORB::operator()(const cv::Mat &image, const cv::Mat &mask, std::vector<cv::
for (std::vector<cv::KeyPoint>::iterator keypoint = keypoints_in_out.begin(), keypoint_end = keypoints_in_out.end(); keypoint for (std::vector<cv::KeyPoint>::iterator keypoint = keypoints_in_out.begin(), keypoint_end = keypoints_in_out.end(); keypoint
!= keypoint_end; ++keypoint) != keypoint_end; ++keypoint)
all_keypoints[keypoint->octave].push_back(*keypoint); all_keypoints[keypoint->octave].push_back(*keypoint);
// Make sure we rescale the coordinates
for (unsigned int level = 0; level < params_.n_levels_; ++level)
{
if (level == params_.first_level_)
continue;
std::vector<cv::KeyPoint> & keypoints = all_keypoints[level];
float scale = 1.0f / std::pow(params_.scale_factor_, float(level - params_.first_level_));
for (std::vector<cv::KeyPoint>::iterator keypoint = keypoints.begin(), keypoint_end = keypoints.end(); keypoint
!= keypoint_end; ++keypoint)
keypoint->pt *= scale;
}
} }
keypoints_in_out.clear(); keypoints_in_out.clear();
@ -593,9 +606,8 @@ void ORB::operator()(const cv::Mat &image, const cv::Mat &mask, std::vector<cv::
// integral image // integral image
computeIntegralImage(working_mat, level, integral_image); computeIntegralImage(working_mat, level, integral_image);
// Compute the features // Get the features and compute their orientation
std::vector<cv::KeyPoint> & keypoints = all_keypoints[level]; std::vector<cv::KeyPoint> & keypoints = all_keypoints[level];
if (do_keypoints)
computeOrientation(working_mat, integral_image, level, keypoints); computeOrientation(working_mat, integral_image, level, keypoints);
// Compute the descriptors // Compute the descriptors
@ -653,9 +665,6 @@ void ORB::computeKeyPoints(const std::vector<cv::Mat>& image_pyramid, const std:
{ {
all_keypoints_out.resize(params_.n_levels_); all_keypoints_out.resize(params_.n_levels_);
std::vector<cv::KeyPoint> all_keypoints;
all_keypoints.reserve(2 * n_features_);
// half_patch_size_ for orientation, 4 for Harris // half_patch_size_ for orientation, 4 for Harris
unsigned int edge_threshold = std::max(std::max(half_patch_size_, 4), params_.edge_threshold_); unsigned int edge_threshold = std::max(std::max(half_patch_size_, 4), params_.edge_threshold_);
@ -663,7 +672,7 @@ void ORB::computeKeyPoints(const std::vector<cv::Mat>& image_pyramid, const std:
{ {
all_keypoints_out[level].reserve(n_features_per_level_[level]); all_keypoints_out[level].reserve(n_features_per_level_[level]);
std::vector<cv::KeyPoint> keypoints; std::vector<cv::KeyPoint> & keypoints = all_keypoints_out[level];
// Detect FAST features, 20 is a good threshold // Detect FAST features, 20 is a good threshold
cv::FastFeatureDetector fd(20, true); cv::FastFeatureDetector fd(20, true);
@ -678,21 +687,14 @@ void ORB::computeKeyPoints(const std::vector<cv::Mat>& image_pyramid, const std:
// Compute the Harris cornerness (better scoring than FAST) // Compute the Harris cornerness (better scoring than FAST)
HarrisResponse h(image_pyramid[level]); HarrisResponse h(image_pyramid[level]);
h(keypoints); h(keypoints);
//cull to the final desired level, using the new harris scores. //cull to the final desired level, using the new Harris scores.
cull(keypoints, n_features_per_level_[level]); cull(keypoints, n_features_per_level_[level]);
// Set the level of the coordinates // Set the level of the coordinates
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)
keypoint->octave = level; keypoint->octave = level;
all_keypoints.insert(all_keypoints.end(), keypoints.begin(), keypoints.end());
} }
// Cluster the keypoints
for (std::vector<cv::KeyPoint>::iterator keypoint = all_keypoints.begin(), keypoint_end = all_keypoints.end(); keypoint
!= keypoint_end; ++keypoint)
all_keypoints_out[keypoint->octave].push_back(*keypoint);
} }
/** Compute the ORB keypoint orientations /** Compute the ORB keypoint orientations