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Added some warnings

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matlabbe
2017-11-14 16:28:47 -05:00
parent b820e98bdc
commit 274e7c579e
2 changed files with 10 additions and 4 deletions
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10
corelib/src/RegistrationVis.cpp
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@@ -325,9 +325,7 @@ Transform RegistrationVis::computeTransformationImpl(
std::multimap<int, cv::Point3f> words3To; std::multimap<int, cv::Point3f> words3To;
std::multimap<int, cv::Mat> wordsDescFrom; std::multimap<int, cv::Mat> wordsDescFrom;
std::multimap<int, cv::Mat> wordsDescTo; std::multimap<int, cv::Mat> wordsDescTo;
if(_correspondencesApproach == 1 && //Optical Flow if(_correspondencesApproach == 1) //Optical Flow
!imageFrom.empty() &&
!imageTo.empty())
{ {
UDEBUG(""); UDEBUG("");
// convert to grayscale // convert to grayscale
@@ -358,7 +356,7 @@ Transform RegistrationVis::computeTransformationImpl(
kptsFrom3D = detector->generateKeypoints3D(fromSignature.sensorData(), kptsFrom); kptsFrom3D = detector->generateKeypoints3D(fromSignature.sensorData(), kptsFrom);
} }
if(!imageTo.empty()) if(!imageFrom.empty() && !imageTo.empty())
{ {
std::vector<cv::Point2f> cornersFrom; std::vector<cv::Point2f> cornersFrom;
cv::KeyPoint::convert(kptsFrom, cornersFrom); cv::KeyPoint::convert(kptsFrom, cornersFrom);
@@ -450,6 +448,10 @@ Transform RegistrationVis::computeTransformationImpl(
} }
else else
{ {
if(imageFrom.empty())
{
UERROR("Optical flow correspondences requires images in data!");
}
UASSERT(kptsFrom.size() == kptsFrom3D.size()); UASSERT(kptsFrom.size() == kptsFrom3D.size());
for(unsigned int i=0; i< kptsFrom3D.size(); ++i) for(unsigned int i=0; i< kptsFrom3D.size(); ++i)
{ {

4
corelib/src/util3d_motion_estimation.cpp
View File

@@ -164,6 +164,10 @@ Transform estimateMotion3DTo2D(
double median_error_sqr = (double)errorSqrdDists[errorSqrdDists.size () >> 1]; double median_error_sqr = (double)errorSqrdDists[errorSqrdDists.size () >> 1];
*covariance *= 2.1981 * median_error_sqr; *covariance *= 2.1981 * median_error_sqr;
} }
else
{
UWARN("Not enough close points to compute covariance!");
}
} }
else if(covariance) else if(covariance)
{ {