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Fixed crash when setting max features (#34)

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matlabbe 2017-03-31 13:29:54 -04:00
parent 6337d4efb6
commit 419a8a6f51
1 changed files with 8 additions and 1 deletions
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9
src/FindObject.cpp
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@ -390,7 +390,7 @@ void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, cv::Mat & descriptors
cv::Mat descriptorsKept; cv::Mat descriptorsKept;
if(maxKeypoints > 0 && (int)keypoints.size() > maxKeypoints) if(maxKeypoints > 0 && (int)keypoints.size() > maxKeypoints)
{ {
descriptorsKept = cv::Mat(1, descriptors.cols, descriptors.type()); descriptorsKept = cv::Mat(0, descriptors.cols, descriptors.type());
// Sort words by response // Sort words by response
std::multimap<float, int> reponseMap; // <response,id> std::multimap<float, int> reponseMap; // <response,id>
@ -412,6 +412,7 @@ void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, cv::Mat & descriptors
} }
keypoints = kptsKept; keypoints = kptsKept;
descriptors = descriptorsKept; descriptors = descriptorsKept;
UASSERT_MSG((int)keypoints.size() == descriptors.rows, uFormat("%d vs %d", (int)keypoints.size(), descriptors.rows).c_str());
} }
void computeFeatures( void computeFeatures(
@ -433,6 +434,7 @@ void computeFeatures(
if(Settings::currentDetectorType() == Settings::currentDescriptorType()) if(Settings::currentDetectorType() == Settings::currentDescriptorType())
{ {
detector->detectAndCompute(image, keypoints, descriptors, mask); detector->detectAndCompute(image, keypoints, descriptors, mask);
UASSERT_MSG((int)keypoints.size() == descriptors.rows, uFormat("%d vs %d", (int)keypoints.size(), descriptors.rows).c_str());
if(maxFeatures > 0 && (int)keypoints.size() > maxFeatures) if(maxFeatures > 0 && (int)keypoints.size() > maxFeatures)
{ {
limitKeypoints(keypoints, descriptors, maxFeatures); limitKeypoints(keypoints, descriptors, maxFeatures);
@ -453,6 +455,7 @@ void computeFeatures(
try try
{ {
extractor->compute(image, keypoints, descriptors); extractor->compute(image, keypoints, descriptors);
UASSERT_MSG((int)keypoints.size() == descriptors.rows, uFormat("%d vs %d", (int)keypoints.size(), descriptors.rows).c_str());
} }
catch(cv::Exception & e) catch(cv::Exception & e)
{ {
@ -1021,6 +1024,7 @@ void FindObject::updateVocabulary(const QList<int> & ids)
int addedWords = 0; int addedWords = 0;
for(int i=0; i<objectsList.size(); ++i) for(int i=0; i<objectsList.size(); ++i)
{ {
UASSERT(objectsList[i]->descriptors().rows == (int)objectsList[i]->keypoints().size());
QMultiMap<int, int> words = vocabulary_->addWords(objectsList[i]->descriptors(), objectsList.at(i)->id()); QMultiMap<int, int> words = vocabulary_->addWords(objectsList[i]->descriptors(), objectsList.at(i)->id());
objectsList[i]->setWords(words); objectsList[i]->setWords(words);
addedWords += words.uniqueKeys().size(); addedWords += words.uniqueKeys().size();
@ -1199,6 +1203,8 @@ protected:
int j=0; int j=0;
for(QMultiMap<int, int>::const_iterator iter = matches_->begin(); iter!=matches_->end(); ++iter) for(QMultiMap<int, int>::const_iterator iter = matches_->begin(); iter!=matches_->end(); ++iter)
{ {
UASSERT_MSG(iter.key() < (int)kptsA_->size(), uFormat("key=%d size=%d", iter.key(),(int)kptsA_->size()).c_str());
UASSERT_MSG(iter.value() < (int)kptsB_->size(), uFormat("key=%d size=%d", iter.value(),(int)kptsB_->size()).c_str());
mpts_1[j] = kptsA_->at(iter.key()).pt; mpts_1[j] = kptsA_->at(iter.key()).pt;
indexesA_[j] = iter.key(); indexesA_[j] = iter.key();
mpts_2[j] = kptsB_->at(iter.value()).pt; mpts_2[j] = kptsB_->at(iter.value()).pt;
@ -1362,6 +1368,7 @@ bool FindObject::detect(const cv::Mat & image, find_object::DetectionInfo & info
extractThread.wait(); extractThread.wait();
info.sceneKeypoints_ = extractThread.keypoints(); info.sceneKeypoints_ = extractThread.keypoints();
info.sceneDescriptors_ = extractThread.descriptors(); info.sceneDescriptors_ = extractThread.descriptors();
UASSERT_MSG((int)extractThread.keypoints().size() == extractThread.descriptors().rows, uFormat("%d vs %d", (int)extractThread.keypoints().size(), extractThread.descriptors().rows).c_str());
info.timeStamps_.insert(DetectionInfo::kTimeKeypointDetection, extractThread.timeDetection()); info.timeStamps_.insert(DetectionInfo::kTimeKeypointDetection, extractThread.timeDetection());
info.timeStamps_.insert(DetectionInfo::kTimeDescriptorExtraction, extractThread.timeExtraction()); info.timeStamps_.insert(DetectionInfo::kTimeDescriptorExtraction, extractThread.timeExtraction());
info.timeStamps_.insert(DetectionInfo::kTimeSubPixelRefining, extractThread.timeSubPix()); info.timeStamps_.insert(DetectionInfo::kTimeSubPixelRefining, extractThread.timeSubPix());