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fixed orb bug commited by mistake

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This commit is contained in:
Anatoly Baksheev 2012-02-14 10:27:33 +00:00
parent 84db4eb6fa
commit 87bbcccea5
2 changed files with 8 additions and 8 deletions
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2
modules/gpu/include/opencv2/gpu/gpu.hpp
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@ -1664,7 +1664,7 @@ private:
GpuMat pattern_; GpuMat pattern_;
std::vector<GpuMat> imagePyr_; std::vector<GpuMat> imagePyr_;
cv::Ptr<std::vector<GpuMat>> maskPyr_; std::vector<GpuMat> maskPyr_;
GpuMat buf_; GpuMat buf_;

14
modules/gpu/src/orb.cpp
View File

@ -493,7 +493,7 @@ void cv::gpu::ORB_GPU::buildScalePyramids(const GpuMat& image, const GpuMat& mas
CV_Assert(mask.empty() || (mask.type() == CV_8UC1 && mask.size() == image.size())); CV_Assert(mask.empty() || (mask.type() == CV_8UC1 && mask.size() == image.size()));
imagePyr_.resize(params_.n_levels_); imagePyr_.resize(params_.n_levels_);
maskPyr_->resize(params_.n_levels_); maskPyr_.resize(params_.n_levels_);
for (int level = 0; level < static_cast<int>(params_.n_levels_); ++level) for (int level = 0; level < static_cast<int>(params_.n_levels_); ++level)
{ {
@ -502,8 +502,8 @@ void cv::gpu::ORB_GPU::buildScalePyramids(const GpuMat& image, const GpuMat& mas
Size sz(cvRound(image.cols * scale), cvRound(image.rows * scale)); Size sz(cvRound(image.cols * scale), cvRound(image.rows * scale));
ensureSizeIsEnough(sz, image.type(), imagePyr_[level]); ensureSizeIsEnough(sz, image.type(), imagePyr_[level]);
ensureSizeIsEnough(sz, CV_8UC1, (*maskPyr_)[level]); ensureSizeIsEnough(sz, CV_8UC1, maskPyr_[level]);
(*maskPyr_)[level].setTo(Scalar::all(255)); maskPyr_[level].setTo(Scalar::all(255));
// Compute the resized image // Compute the resized image
if (level != static_cast<int>(params_.first_level_)) if (level != static_cast<int>(params_.first_level_))
@ -528,7 +528,7 @@ void cv::gpu::ORB_GPU::buildScalePyramids(const GpuMat& image, const GpuMat& mas
image.copyTo(imagePyr_[level]); image.copyTo(imagePyr_[level]);
if (!mask.empty()) if (!mask.empty())
mask.copyTo((*maskPyr_)[level]); mask.copyTo(maskPyr_[level]);
} }
// Filter keypoints by image border // Filter keypoints by image border
@ -537,7 +537,7 @@ void cv::gpu::ORB_GPU::buildScalePyramids(const GpuMat& image, const GpuMat& mas
Rect inner(params_.edge_threshold_, params_.edge_threshold_, sz.width - 2 * params_.edge_threshold_, sz.height - 2 * params_.edge_threshold_); Rect inner(params_.edge_threshold_, params_.edge_threshold_, sz.width - 2 * params_.edge_threshold_, sz.height - 2 * params_.edge_threshold_);
buf_(inner).setTo(Scalar::all(255)); buf_(inner).setTo(Scalar::all(255));
bitwise_and((*maskPyr_)[level], buf_, (*maskPyr_)[level]); bitwise_and(maskPyr_[level], buf_, maskPyr_[level]);
} }
} }
@ -573,7 +573,7 @@ void cv::gpu::ORB_GPU::computeKeyPointsPyramid()
for (int level = 0; level < static_cast<int>(params_.n_levels_); ++level) for (int level = 0; level < static_cast<int>(params_.n_levels_); ++level)
{ {
keyPointsCount_[level] = fastDetector_.calcKeyPointsLocation(imagePyr_[level], (*maskPyr_)[level]); keyPointsCount_[level] = fastDetector_.calcKeyPointsLocation(imagePyr_[level], maskPyr_[level]);
ensureSizeIsEnough(3, keyPointsCount_[level], CV_32FC1, keyPointsPyr_[level]); ensureSizeIsEnough(3, keyPointsCount_[level], CV_32FC1, keyPointsPyr_[level]);
@ -752,7 +752,7 @@ void cv::gpu::ORB_GPU::operator()(const GpuMat& image, const GpuMat& mask, std::
void cv::gpu::ORB_GPU::release() void cv::gpu::ORB_GPU::release()
{ {
imagePyr_.clear(); imagePyr_.clear();
maskPyr_->clear(); maskPyr_.clear();
buf_.release(); buf_.release();