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Fix number of generated SIFT features #28

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Fix number of generated SIFT features #28

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80947f2
Fix wrong key point limit check and clamp the number of features in t…
stotko Oct 16, 2018
df2788e
Replace hard-coded max number of features for SiftGPU with the global…
stotko Oct 16, 2018
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2 changes: 1 addition & 1 deletion FriedLiver/Source/Bundler.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -58,7 +58,7 @@ void Bundler::initSift(unsigned int widthSift, unsigned int heightSift, bool isL
{
if (isLocal) {
m_sift = new SiftGPU;
m_sift->SetParams(widthSift, heightSift, false, 150, GlobalAppState::get().s_sensorDepthMin, GlobalAppState::get().s_sensorDepthMax);
m_sift->SetParams(widthSift, heightSift, false, GlobalBundlingState::get().s_maxNumKeysPerImage, GlobalAppState::get().s_sensorDepthMin, GlobalAppState::get().s_sensorDepthMax);
m_sift->InitSiftGPU();
}
else {
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11 changes: 10 additions & 1 deletion FriedLiver/Source/SiftGPU/SiftPyramid.cpp
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Expand Up @@ -245,12 +245,21 @@ void SiftPyramid::LimitFeatureCount(int have_keylist)
else
{
int i = 0, num_to_erase = 0;
//remove remaining levels before the number of features drops below the threshold.
while (_featureNum - _levelFeatureNum[i] > _FeatureCountThreshold)
{
num_to_erase += _levelFeatureNum[i];
_featureNum -= _levelFeatureNum[i];
_levelFeatureNum[i++] = 0;
}
//clamp number of features in the last contributing level.
if (_featureNum > _FeatureCountThreshold)
{
int num_to_erase_last = _featureNum - _FeatureCountThreshold;
num_to_erase += num_to_erase_last;
_featureNum -= num_to_erase_last;
_levelFeatureNum[i] -= num_to_erase_last;
}
}
}

Expand Down Expand Up @@ -745,7 +754,7 @@ void SiftPyramid::CreateGlobalKeyPointList(float4* d_keypoints, const float* d_d

//if needed, eliminate lower level keypoints first
std::vector<int> numKeysPerLevel(n, 0); int cur = 0;
const bool bHasMax = maxNumKeyPoints == (unsigned int)-1;
const bool bHasMax = maxNumKeyPoints != (unsigned int)-1;
for (int i = n - 1; i >= 0; i--) {
if (!bHasMax) numKeysPerLevel[i] = _levelFeatureNum[i];
else {
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2 changes: 1 addition & 1 deletion FriedLiver/zParametersBundlingDefault.txt
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Expand Up @@ -29,7 +29,7 @@ s_denseOverlapCheckSubsampleFactor = 4;

s_maxNumImages = 1200;
s_submapSize = 10;
s_maxNumKeysPerImage = 1024;
s_maxNumKeysPerImage = 150;

s_useLocalDense = true;
s_numOptPerResidualRemoval = 1;
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