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- fix a possible crash when only asking for features and not descriptors

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This commit is contained in:
Vincent Rabaud 2011-05-25 00:33:50 +00:00
parent 355ad2993a
commit 909e484e74
1 changed files with 15 additions and 23 deletions
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10
modules/features2d/src/orb.cpp
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@ -523,8 +523,6 @@ void ORB::operator()(const cv::Mat &image, const cv::Mat &mask, std::vector<cv::
if ((!do_keypoints) && (!do_descriptors)) if ((!do_keypoints) && (!do_descriptors))
return; return;
if (do_keypoints)
keypoints_in_out.clear();
if (do_descriptors) if (do_descriptors)
descriptors.release(); descriptors.release();
@ -560,6 +558,7 @@ void ORB::operator()(const cv::Mat &image, const cv::Mat &mask, std::vector<cv::
all_keypoints[keypoint->octave].push_back(*keypoint); all_keypoints[keypoint->octave].push_back(*keypoint);
} }
keypoints_in_out.clear();
for (unsigned int level = 0; level < params_.n_levels_; ++level) for (unsigned int level = 0; level < params_.n_levels_; ++level)
{ {
// Compute the resized image // Compute the resized image
@ -583,11 +582,6 @@ void ORB::operator()(const cv::Mat &image, const cv::Mat &mask, std::vector<cv::
computeDescriptors(working_mat, integral_image, level, keypoints, desc); computeDescriptors(working_mat, integral_image, level, keypoints, desc);
// Copy to the output data // Copy to the output data
if (!desc.empty())
{
if (do_keypoints)
{
// Rescale the coordinates
if (level != params_.first_level_) if (level != params_.first_level_)
{ {
float scale = std::pow(params_.scale_factor_, float(level - params_.first_level_)); float scale = std::pow(params_.scale_factor_, float(level - params_.first_level_));
@ -597,7 +591,6 @@ void ORB::operator()(const cv::Mat &image, const cv::Mat &mask, std::vector<cv::
} }
// And add the keypoints to the output // And add the keypoints to the output
keypoints_in_out.insert(keypoints_in_out.end(), keypoints.begin(), keypoints.end()); keypoints_in_out.insert(keypoints_in_out.end(), keypoints.begin(), keypoints.end());
}
if (do_descriptors) if (do_descriptors)
{ {
@ -608,7 +601,6 @@ void ORB::operator()(const cv::Mat &image, const cv::Mat &mask, std::vector<cv::
} }
} }
} }
}
/** Compute the ORB keypoints on an image /** Compute the ORB keypoints on an image
* @param image_pyramid the image pyramid to compute the features and descriptors on * @param image_pyramid the image pyramid to compute the features and descriptors on