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Merge branch 'master' of github.com:introlab/rtabmap into devel

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matlabbe
2016-06-27 12:17:55 -04:00
parent a310b5e864 f69ca56179
commit 1398b71b60
3 changed files with 58 additions and 77 deletions
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corelib/src/RegistrationVis.cpp
+2 -4
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@@ -260,8 +260,7 @@ Transform RegistrationVis::computeTransformationImpl(
}
cv::Mat depthMask;
if(!fromSignature.sensorData().depthRaw().empty() &&
detector->getType() != Feature2D::kFeatureOrb) // ORB's mask pyramids don't seem to work well
if(!fromSignature.sensorData().depthRaw().empty())
{
if(imageFrom.rows % fromSignature.sensorData().depthRaw().rows == 0 &&
imageFrom.cols % fromSignature.sensorData().depthRaw().cols == 0 &&
@@ -433,8 +432,7 @@ Transform RegistrationVis::computeTransformationImpl(
}
cv::Mat depthMask;
if(!toSignature.sensorData().depthRaw().empty() &&
detector->getType() != Feature2D::kFeatureOrb) // ORB's mask pyramids don't seem to work well
if(!toSignature.sensorData().depthRaw().empty())
{
if(imageTo.rows % toSignature.sensorData().depthRaw().rows == 0 &&
imageTo.cols % toSignature.sensorData().depthRaw().cols == 0 &&