Question

我目前正在使用ORB研究一种小算法。由于关键点和描述符的位置和大小会发生变化，因此必须在某个点重新计算。但是，在断言“级别> = 0”时，调用带有“ useExistingKepoints”标志的detectAndCompute失败。我很困惑，因为在关键点或描述符中没有称为“ level”的属性。我的问题是究竟是什么导致断言失败以及如何避免断言？

Fyi：由于跟踪器使用的是矩形边界框而不是圆形的关键点，因此我必须将它们相互转换。

Keypoint2BoundingBox：

//Create Rect2d with data from the keypoint. 
//Orientation and octave don't need to be saved, since  the object gets reused
//kp: KeyPoint
Rect2d(round(kp.pt.x - kp.size / 2), round(kp.pt.y - kp.size / 2)
       round(kp.size), round(kp.size)));

BoundingBox2Keypoint（此方法的结果传递给导致问题的ORB）

//obtain previous kp object and update it accordingly
//kp: KeyPoint;   rect: Rect2d
kp->size = int(round(max(rect->height,rect->width)));
kp->octave = int(round(size2Octave(kp->size, patchsize, scale)));
kp->pt = Point2f(int(round(rect->x-(rect->width/2))),
int(round(rect->y-(rect->height/2))));

Size2Octave

//Uses keypoint size and some ORB parameters to compute the octave 
//the keypoint would have
//size: Keypoint Size;   patchsize: size of keypoints at octave 0;
//scale: stepsize to next octave
//returns fraction if Keypoint size is not multiple of patchsize
log10(size/patchsize)/log(scale);

Answer 1

如您在source code中所见：

 level = keypoints[i].octave;
 CV_Assert(level >= 0);

您需要修正计算octave

的方式

CV4.1：函数detectAndCompute级别> = 0中的断言失败[已解决]

1 个答案: