transform features after source images decimation (#1154)

introlab · Nov 2, 2023 · 45a3b59 · 45a3b59
1 parent 08d0ef7
commit 45a3b59
Showing 1 changed file with 11 additions and 0 deletions.
diff --git a/corelib/src/CameraThread.cpp b/corelib/src/CameraThread.cpp
@@ -458,6 +458,17 @@ void CameraThread::postUpdate(SensorData * dataPtr, CameraInfo * info) const
 			{
 				data.setStereoImage(image, depthOrRight, stereoModels);
 			}
+
+			std::vector<cv::KeyPoint> kpts = data.keypoints();
+			double log2value = log(double(_imageDecimation))/log(2.0);
+			for(unsigned int i=0; i<kpts.size(); ++i)
+			{
+				kpts[i].pt.x /= _imageDecimation;
+				kpts[i].pt.y /= _imageDecimation;
+				kpts[i].size /= _imageDecimation;
+				kpts[i].octave -= log2value;
+			}
+			data.setFeatures(kpts, data.keypoints3D(), data.descriptors());
 		}
 		if(info) info->timeImageDecimation = timer.ticks();
 	}