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Fixed assert on words index <0 when addMoreLoopClosures is called

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matlabbe
2025-12-18 16:38:13 -08:00
parent af7ff60a6c
commit 26573456c2
3 changed files with 6 additions and 4 deletions
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corelib/src/RegistrationVis.cpp
+4 -2
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@@ -333,11 +333,12 @@ Transform RegistrationVis::computeTransformationImpl(
UDEBUG("Feature Detector = %d", (int)_detectorFrom->getType());
UDEBUG("guess=%s", guess.prettyPrint().c_str());
UDEBUG("Input(%d): from=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
UDEBUG("Input(%d): from=%d words, %d 3D words, %d words descriptors, %d words kpts, %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
fromSignature.id(),
(int)fromSignature.getWords().size(),
(int)fromSignature.getWords3().size(),
(int)fromSignature.getWordsDescriptors().rows,
(int)fromSignature.getWordsKpts().size(),
(int)fromSignature.sensorData().keypoints().size(),
(int)fromSignature.sensorData().keypoints3D().size(),
fromSignature.sensorData().descriptors().rows,
@@ -346,11 +347,12 @@ Transform RegistrationVis::computeTransformationImpl(
(int)fromSignature.sensorData().cameraModels().size(),
(int)fromSignature.sensorData().stereoCameraModels().size());
UDEBUG("Input(%d): to=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
UDEBUG("Input(%d): to=%d words, %d 3D words, %d words descriptors, %d words kpts, %d kpts, %d kpts3D, %d descriptors, image=%dx%d models=%d stereo=%d",
toSignature.id(),
(int)toSignature.getWords().size(),
(int)toSignature.getWords3().size(),
(int)toSignature.getWordsDescriptors().rows,
(int)toSignature.getWordsKpts().size(),
(int)toSignature.sensorData().keypoints().size(),
(int)toSignature.sensorData().keypoints3D().size(),
toSignature.sensorData().descriptors().rows,