From c4534ef19b3a9b189428b16ae6a6bb169030cbbb Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Fri, 4 May 2018 15:41:18 +0200
Subject: [PATCH] FIX: add check of matches vector size when quering with KNN
and RADIUS
---
src/matchers/matcher_base.cpp | 14 +++++++++-----
1 file changed, 9 insertions(+), 5 deletions(-)
diff --git a/src/matchers/matcher_base.cpp b/src/matchers/matcher_base.cpp
index 2842d89..8ee93a2 100644
--- a/src/matchers/matcher_base.cpp
+++ b/src/matchers/matcher_base.cpp
@@ -48,15 +48,13 @@ std::vector<Scalar> MatcherBase::match(const cv::Mat& _desc1, const cv::Mat& _de
// This conversion is required when using with hamming descriptors outputs
// like BRIEF, ORB, FREAK, AKAZE etc
if (_desc1.type()!=CV_32F)
- {
matcher_ = new cv::FlannBasedMatcher(new cv::flann::LshIndexParams(LSH_TABLE_NUM, LSH_KEY_SIZE, LSH_MULTI_PROBE_LEVEL));
- }
matcher_->match( _desc1, _desc2, matches, _mask);
// here we get only the best match score
for (auto m : matches)
- normalized_scores.push_back(1.0 - m.distance/(desc_size_bytes*8));
+ normalized_scores.push_back(1.0 - m.distance/(desc_size_bytes*8));
}
comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
}
@@ -83,7 +81,10 @@ std::vector<Scalar> MatcherBase::match(const cv::Mat& _desc1, const cv::Mat& _de
// here we get only the best match score
for (auto m : matches)
- normalized_scores.push_back(1.0 - m[0].distance/(desc_size_bytes*8));
+ if (m.size()>0)
+ normalized_scores.push_back(1.0 - m[0].distance/(desc_size_bytes*8));
+ else
+ normalized_scores.push_back(0.0);
}
comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
}
@@ -100,7 +101,10 @@ std::vector<Scalar> MatcherBase::match(const cv::Mat& _desc1, const cv::Mat& _de
matcher_->radiusMatch(_desc1, _desc2, matches, 2, _mask);
for (auto m : matches)
- normalized_scores.push_back(1.0 - m[0].distance/(desc_size_bytes*8));
+ if (m.size()>0)
+ normalized_scores.push_back(1.0 - m[0].distance/(desc_size_bytes*8));
+ else
+ normalized_scores.push_back(0.0);
}
comp_time_ = (double)(clock() - tStart) / CLOCKS_PER_SEC;
}
--
GitLab