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- fix a possible crash when only asking for features and not descriptors

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This commit is contained in:
Vincent Rabaud 2011-05-25 00:33:50 +00:00
parent 355ad2993a
commit 909e484e74
1 changed files with 15 additions and 23 deletions
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38
modules/features2d/src/orb.cpp
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@ -523,8 +523,6 @@ void ORB::operator()(const cv::Mat &image, const cv::Mat &mask, std::vector<cv::
if ((!do_keypoints) && (!do_descriptors))
return;
if (do_keypoints)
keypoints_in_out.clear();
if (do_descriptors)
descriptors.release();
@ -560,6 +558,7 @@ void ORB::operator()(const cv::Mat &image, const cv::Mat &mask, std::vector<cv::
all_keypoints[keypoint->octave].push_back(*keypoint);
}
keypoints_in_out.clear();
for (unsigned int level = 0; level < params_.n_levels_; ++level)
{
// Compute the resized image
@ -583,29 +582,22 @@ void ORB::operator()(const cv::Mat &image, const cv::Mat &mask, std::vector<cv::
computeDescriptors(working_mat, integral_image, level, keypoints, desc);
// Copy to the output data
if (!desc.empty())
if (level != params_.first_level_)
{
if (do_keypoints)
{
// Rescale the coordinates
if (level != params_.first_level_)
{
float scale = 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;
}
// And add the keypoints to the output
keypoints_in_out.insert(keypoints_in_out.end(), keypoints.begin(), keypoints.end());
}
float scale = 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;
}
// And add the keypoints to the output
keypoints_in_out.insert(keypoints_in_out.end(), keypoints.begin(), keypoints.end());
if (do_descriptors)
{
if (descriptors.empty())
desc.copyTo(descriptors);
else
descriptors.push_back(desc);
}
if (do_descriptors)
{
if (descriptors.empty())
desc.copyTo(descriptors);
else
descriptors.push_back(desc);
}
}
}