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Fixed issue in ORB detection if firstLevel property is set above 0

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This commit is contained in:
Vitaly Tuzov
2018-01-25 15:23:59 +03:00
parent 12ea8477a3
commit 205022ceee
2 changed files with 11 additions and 6 deletions
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modules/features2d/src/orb.cpp
+8 -4
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@@ -673,7 +673,7 @@ public:
void setEdgeThreshold(int edgeThreshold_) { edgeThreshold = edgeThreshold_; }
int getEdgeThreshold() const { return edgeThreshold; }
void setFirstLevel(int firstLevel_) { firstLevel = firstLevel_; }
void setFirstLevel(int firstLevel_) { CV_Assert(firstLevel >= 0); firstLevel = firstLevel_; }
int getFirstLevel() const { return firstLevel; }
void setWTA_K(int wta_k_) { wta_k = wta_k_; }
@@ -1014,7 +1014,7 @@ void ORB_Impl::detectAndCompute( InputArray _image, InputArray _mask,
int level_dy = image.rows + border*2;
Point level_ofs(0,0);
Size bufSize((image.cols + border*2 + 15) & -16, 0);
Size bufSize((cvRound(image.cols/getScale(0, firstLevel, scaleFactor)) + border*2 + 15) & -16, 0);
for( level = 0; level < nLevels; level++ )
{
@@ -1082,8 +1082,11 @@ void ORB_Impl::detectAndCompute( InputArray _image, InputArray _mask,
copyMakeBorder(mask, extMask, border, border, border, border,
BORDER_CONSTANT+BORDER_ISOLATED);
}
prevImg = currImg;
prevMask = currMask;
if (level > firstLevel)
{
prevImg = currImg;
prevMask = currMask;
}
}
if( useOCL )
@@ -1194,6 +1197,7 @@ void ORB_Impl::detectAndCompute( InputArray _image, InputArray _mask,
Ptr<ORB> ORB::create(int nfeatures, float scaleFactor, int nlevels, int edgeThreshold,
int firstLevel, int wta_k, int scoreType, int patchSize, int fastThreshold)
{
CV_Assert(firstLevel >= 0);
return makePtr<ORB_Impl>(nfeatures, scaleFactor, nlevels, edgeThreshold,
firstLevel, wta_k, scoreType, patchSize, fastThreshold);
}