Store descriptor coefficients in 1 byte instead of 4
Change-Id: I26ed08a552a4452de13ed8508c3c00d68d590152
diff --git a/y2020/vision/camera_reader.cc b/y2020/vision/camera_reader.cc
index c47e42b..f38a40e 100644
--- a/y2020/vision/camera_reader.cc
+++ b/y2020/vision/camera_reader.cc
@@ -189,12 +189,14 @@
// avoid crashes that only occur when specific features are matched.
CHECK(feature_table->has_field_location());
- const flatbuffers::Vector<float> *const descriptor =
+ const flatbuffers::Vector<uint8_t> *const descriptor =
feature_table->descriptor();
CHECK_EQ(descriptor->size(), 128u) << ": Unsupported feature size";
- cv::Mat(1, descriptor->size(), CV_32F,
- const_cast<void *>(static_cast<const void *>(descriptor->data())))
- .copyTo(features(cv::Range(i, i + 1), cv::Range(0, 128)));
+ const auto in_mat = cv::Mat(
+ 1, descriptor->size(), CV_8U,
+ const_cast<void *>(static_cast<const void *>(descriptor->data())));
+ const auto out_mat = features(cv::Range(i, i + 1), cv::Range(0, 128));
+ in_mat.convertTo(out_mat, CV_32F);
}
matcher_->add(features);
}
@@ -552,13 +554,21 @@
const cv::Mat &descriptors) {
const int number_features = keypoints.size();
CHECK_EQ(descriptors.rows, number_features);
+ CHECK_EQ(descriptors.cols, 128);
std::vector<flatbuffers::Offset<sift::Feature>> features_vector(
number_features);
for (int i = 0; i < number_features; ++i) {
- const auto submat = descriptors(cv::Range(i, i + 1), cv::Range(0, 128));
+ const auto submat =
+ descriptors(cv::Range(i, i + 1), cv::Range(0, descriptors.cols));
CHECK(submat.isContinuous());
- const auto descriptor_offset =
- fbb->CreateVector(reinterpret_cast<float *>(submat.data), 128);
+ flatbuffers::Offset<flatbuffers::Vector<uint8_t>> descriptor_offset;
+ {
+ uint8_t *data;
+ descriptor_offset = fbb->CreateUninitializedVector(128, &data);
+ submat.convertTo(
+ cv::Mat(1, descriptors.cols, CV_8U, static_cast<void *>(data)),
+ CV_8U);
+ }
sift::Feature::Builder feature_builder(*fbb);
feature_builder.add_descriptor(descriptor_offset);
feature_builder.add_x(keypoints[i].pt.x);