Getting the following error when trying to run the code:

Xlib:  extension "RANDR" missing on display ":6".

(Input Image:3187): GdkGLExt-WARNING **: Window system doesn't support OpenGL.
dh@dh-All-Series:~/Downloads/ANMS-Codes-master/CmakeProject/build$ ./ANMS_Codes Demo of the ANMS algorithms
Xlib:  extension "RANDR" missing on display ":6".

(Input Image:3295): GdkGLExt-WARNING **: Window system doesn't support OpenGL.

Is anms rotation and/or scale invariant?

I'm getting an std::bad_alloc error when testing a visual odometry algorithm, that uses the ssc() function (suppression via square covering) (in this case it is occurring on the Kitti sequence 01 odometry dataset). The error occurs on the line that says:

std::vector<std::vector<bool>> coveredVec(numCellRows + 1, std::vector<bool>(numCellCols + 1, false));

The root-cause of the issue occurs a few lines up when width = 1, since the variable c is defined as:

double c = width / 2;

which will cause c = 1/2 = 0 due to integer division. This then has the follow-on effect that numCellCols and numCellRows are undefined since they are created by dividing by c (which is 0 in this case).

I can fix the issue by simply defining c using floating point division instead of integer division (i.e. double c = width / 2.0). However, as I do not have enough time to delve deep into the theory, I wanted to ask if this "fix" is theoretically sound. Thanks.

Hi,

First of all, congratulations for your paper and thank you for your contribution to computer vision field.

After reading your paper and making some tests I can conclude that this new ANMS approach can be helpful for stereo systems where line matching can be used to get correspondences from a pair of images. However, when feature matchers are used, I get much better results with the bucketing approach, probably because feature matchers don't work well with low contrast features (although well distributed).

I'm my tests I've used ORB for keypoints and descriptors extraction, and tested correspondences with both a Brute Force matcher and a Flann matcher.

Could you share your thoughts about using ANMS approaches for monocular systems? Any recommendation to improve keypoint matching?

To make it work properly with rectangular images,

covered_vec = [[False for _ in range(num_cell_cols + 1)] for _ in range(num_cell_cols + 1)]

has to be

covered_vec = [[False for _ in range(num_cell_cols + 1)] for _ in range(num_cell_rows + 1)]

Thanks for the work.

I can get the exact number of returned points using brownANMS, but using other methods, I couldn't, even when I set the tolerance to 0.

Is there a quick modification to get the exact number of points for the other methods?

When compiling the CmakeProject on Windows 7 for Visual Studio 15 2017 Win64 with OpenCV 3 I get a lot of errors.

The first one is for example:
Severity Code Description Project File Line Suppression State Error C2334 unexpected token(s) preceding '{'; skipping apparent function body ANMS_Codes c:\users\cookie\documents\anms\cmakeproject\source\range-tree\ranget.h 523

Is the code not compatible with my setup or have I simply missed something?

Hello everyone,

In main.cpp the following code
//Sorting keypoints by deacreasing order of strength vector<**int**> responseVector; for (unsigned int i =0 ; i<keyPoints.size(); i++) responseVector.push_back(keyPoints[i].response);

Since the response of a cv::Keypoint is a float value, I think that the responseVector should be float as well instead of int. In fact, if other detectors than FAST are used, the response vector is going to be populated of zeros because the range is different.

Hello,

I want to use my key points that I got here in the ORB. Do you think this is possible?

Best Regards

Onur Güzeldemirci

In the paper, the al=sqrt(n/m)/2, while in the code implementation, e.g. line 303 of anms.h, the al is calculated as int low = floor(sqrt((double)keyPoints.size()/numRetPoints));. Could the author clarify the discrepancy?

In "anms.h", the following line assigns c = 0 when width = 1 because of integer division:

double c = width/2; //initializing Grid

This causes the assignment of infinity to

int numCellCols = floor(cols/c);
int numCellRows = floor(rows/c);

which, in turn, returns an std::bad_alloc exception because of the call

std::vector<std::vector<bool> > coveredVec(numCellRows+1,std::vector<bool>(numCellCols+1,false));