Add missing filterKeypointsByDepth step (#1150)

* add missing filterKeypointsByDepth step * Fix ORBOctree not using the depth mask --------- Co-authored-by: matlabbe <matlabbe@gmail.com>
introlab · Oct 26, 2023 · 8da6ea1 · 8da6ea1
1 parent 64962e8
commit 8da6ea1
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Showing 2 changed files with 27 additions and 5 deletions.
diff --git a/corelib/src/Features2d.cpp b/corelib/src/Features2d.cpp
@@ -732,19 +732,19 @@ std::vector<cv::KeyPoint> Feature2D::generateKeypoints(const cv::Mat & image, co
  for (int j = 0; j<gridCols_; ++j)
  {
  cv::Rect roi(globalRoi.x + j*colSize, globalRoi.y + i*rowSize, colSize, rowSize);
- std::vector<cv::KeyPoint> sub_keypoints;
- sub_keypoints = this->generateKeypointsImpl(image, roi, mask);
- limitKeypoints(sub_keypoints, maxFeatures);
+ std::vector<cv::KeyPoint> subKeypoints;
+ subKeypoints = this->generateKeypointsImpl(image, roi, mask);
+ limitKeypoints(subKeypoints, maxFeatures);
  if(roi.x || roi.y)
  {
  // Adjust keypoint position to raw image
- for(std::vector<cv::KeyPoint>::iterator iter=sub_keypoints.begin(); iter!=sub_keypoints.end(); ++iter)
+ for(std::vector<cv::KeyPoint>::iterator iter=subKeypoints.begin(); iter!=subKeypoints.end(); ++iter)
  {
  iter->pt.x += roi.x;
  iter->pt.y += roi.y;
  }
  }
- keypoints.insert( keypoints.end(), sub_keypoints.begin(), sub_keypoints.end() );
+ keypoints.insert( keypoints.end(), subKeypoints.begin(), subKeypoints.end() );
  }
  }
  UDEBUG("Keypoints extraction time = %f s, keypoints extracted = %d (grid=%dx%d, mask empty=%d)",
@@ -2119,6 +2119,24 @@ std::vector<cv::KeyPoint> ORBOctree::generateKeypointsImpl(const cv::Mat & image
 
  (*_orb)(imgRoi, maskRoi, keypoints, descriptors_);
 
+ // OrbOctree ignores the mask, so we have to apply it manually here
+ if(!keypoints.empty() && !maskRoi.empty())
+ {
+ std::vector<cv::KeyPoint> validKeypoints;
+ validKeypoints.reserve(keypoints.size());
+ cv::Mat validDescriptors;
+ for(size_t i=0; i<keypoints.size(); ++i)
+ {
+ if(maskRoi.at<unsigned char>(keypoints[i].pt.y+roi.y, keypoints[i].pt.x+roi.x) != 0)
+ {
+ validKeypoints.push_back(keypoints[i]);
+ validDescriptors.push_back(descriptors_.row(i));
+ }
+ }
+ keypoints = validKeypoints;
+ descriptors_ = validDescriptors;
+ }
+
  if((int)keypoints.size() > this->getMaxFeatures())
  {
  limitKeypoints(keypoints, descriptors_, this->getMaxFeatures());

diff --git a/corelib/src/Memory.cpp b/corelib/src/Memory.cpp
@@ -4970,6 +4970,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
  if(stats) stats->addStatistic(Statistics::kTimingMemKeypoints_3D(), t*1000.0f);
  UDEBUG("time keypoints 3D (%d) = %fs", (int)keypoints3D.size(), t);
  }
+ if(depthMask.empty() && (_feature2D->getMinDepth() > 0.0f || _feature2D->getMaxDepth() > 0.0f))
+ {
+ _feature2D->filterKeypointsByDepth(keypoints, descriptors, keypoints3D, _feature2D->getMinDepth(), _feature2D->getMaxDepth());
+ }
  }
  }
  else if(data.imageRaw().empty())