not limitKps inside Feature2D::generateKeypoints when using pyDetector#1223
Merged
matlabbe merged 2 commits intointrolab:masterfrom Feb 26, 2024
Merged
Conversation
Contributor
Author
|
Sorry, there is a wrong pull. I will fix it soon! FIXED |
Member
|
Good catch. I'll merge it now as it can cause errors, but I opened a new issue #1225 to think about supporting that feature for PyDetector. Without this patch, the workaround would be to set |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This only happens with SuperPoint. Rtabmap will limit key points if exceeds the limit set by Kp/MaxFeatures THEN it will generate descriptors based on extracted key points. It will work classic Features Extraction method. However, SuperPoint will generate key points and descriptors at the same time, if the limit key points method calls inside the extract key point method it will lead to a mismatched number of key points and descriptors later when the generate descriptor method calls. It is solved by ignoring the limit key points method inside the generate key point method and only limiting key points after generating the descriptors if necessary.