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Corrected a bug (segfault) occuring when no positive idepth is available #81

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Corrected a bug (segfault) occuring when no positive idepth is available #81

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86 changes: 42 additions & 44 deletions src/FullSystem/CoarseTracker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -721,27 +721,39 @@ bool CoarseTracker::trackNewestCoarse(

void CoarseTracker::debugPlotIDepthMap(float* minID_pt, float* maxID_pt, std::vector<IOWrap::Output3DWrapper*> &wraps)
{
if(w[1] == 0) return;
if(w[1] == 0) return;

const int lvl = 0;
const int wl = w[lvl];
const int hl = h[lvl];

int lvl = 0;
std::vector<float> allID;
for(int i=0; i < (hl*wl); i++)
{
if(idepth[lvl][i] > 0)
allID.push_back(idepth[lvl][i]);
}

// Initialise debug image
MinimalImageB3 mf(wl, hl);
mf.setBlack();
for(int i=0; i < (hl*wl); i++)
{
int c = lastRef->dIp[lvl][i][0]*0.9f;
if(c>255) c=255;
mf.at(i) = Vec3b(c,c,c);
}

// Check in case all idepths are 0
if(!allID.empty())
{
std::vector<float> allID;
for(int i=0;i<h[lvl]*w[lvl];i++)
{
if(idepth[lvl][i] > 0)
allID.push_back(idepth[lvl][i]);
}
std::sort(allID.begin(), allID.end());
int n = allID.size()-1;

float minID_new = allID[(int)(n*0.05)];
float maxID_new = allID[(int)(n*0.95)];
const int n = allID.size()-1;

float minID, maxID;
minID = minID_new;
maxID = maxID_new;
float minID = allID[(int)(n * 0.05)],
maxID = allID[(int)(n * 0.95)];

if(minID_pt!=0 && maxID_pt!=0)
{
if(*minID_pt < 0 || *maxID_pt < 0)
Expand All @@ -751,38 +763,26 @@ void CoarseTracker::debugPlotIDepthMap(float* minID_pt, float* maxID_pt, std::ve
}
else
{

// slowly adapt: change by maximum 10% of old span.
float maxChange = 0.3*(*maxID_pt - *minID_pt);

const float maxChange = 0.3*(*maxID_pt - *minID_pt);
if(minID < *minID_pt - maxChange)
minID = *minID_pt - maxChange;
if(minID > *minID_pt + maxChange)
minID = *minID_pt + maxChange;



if(maxID < *maxID_pt - maxChange)
maxID = *maxID_pt - maxChange;
if(maxID > *maxID_pt + maxChange)
maxID = *maxID_pt + maxChange;

*maxID_pt = maxID;
*minID_pt = minID;
}
}


MinimalImageB3 mf(w[lvl], h[lvl]);
mf.setBlack();
for(int i=0;i<h[lvl]*w[lvl];i++)
{
int c = lastRef->dIp[lvl][i][0]*0.9f;
if(c>255) c=255;
mf.at(i) = Vec3b(c,c,c);
}
int wl = w[lvl];
for(int y=3;y<h[lvl]-3;y++)
for(int x=3;x<wl-3;x++)
for(int y=3; y<(hl-3); y++)
for(int x=3; x<(wl-3); x++)
{
int idx=x+y*wl;
float sid=0, nid=0;
Expand All @@ -796,24 +796,22 @@ void CoarseTracker::debugPlotIDepthMap(float* minID_pt, float* maxID_pt, std::ve

if(bp[0] > 0 || nid >= 3)
{
float id = ((sid / nid)-minID) / ((maxID-minID));
const float id = ((sid / nid)-minID) / (maxID-minID);
mf.setPixelCirc(x,y,makeJet3B(id));
//mf.at(idx) = makeJet3B(id);
}
}
//IOWrap::displayImage("coarseDepth LVL0", &mf, false);

}
//IOWrap::displayImage("coarseDepth LVL0", &mf, false);

for(IOWrap::Output3DWrapper* ow : wraps)
ow->pushDepthImage(&mf);

if(debugSaveImages)
{
char buf[1000];
snprintf(buf, 1000, "images_out/predicted_%05d_%05d.png", lastRef->shell->id, refFrameID);
IOWrap::writeImage(buf,&mf);
}
for(IOWrap::Output3DWrapper* ow : wraps)
ow->pushDepthImage(&mf);

if(debugSaveImages)
{
char buf[1000];
snprintf(buf, 1000, "images_out/predicted_%05d_%05d.png", lastRef->shell->id, refFrameID);
IOWrap::writeImage(buf,&mf);
}
}

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9 changes: 5 additions & 4 deletions src/FullSystem/FullSystem.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1141,10 +1141,11 @@ void FullSystem::makeKeyFrame( FrameHessian* fh)
coarseTracker_forNewKF->makeK(&Hcalib);
coarseTracker_forNewKF->setCoarseTrackingRef(frameHessians);



coarseTracker_forNewKF->debugPlotIDepthMap(&minIdJetVisTracker, &maxIdJetVisTracker, outputWrapper);
coarseTracker_forNewKF->debugPlotIDepthMapFloat(outputWrapper);
if(!outputWrapper.empty() || debugSaveImages)
{
coarseTracker_forNewKF->debugPlotIDepthMap(&minIdJetVisTracker, &maxIdJetVisTracker, outputWrapper);
coarseTracker_forNewKF->debugPlotIDepthMapFloat(outputWrapper);
}
}


Expand Down