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Parameters: Mem/LaserScanNormalRadius should be a float

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matlabbe
2018-09-27 14:28:51 -04:00
parent 790b0e5cf7
commit 3b74534567
3 changed files with 10 additions and 4 deletions
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10
corelib/src/Memory.cpp
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@@ -4302,9 +4302,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
UDEBUG("inliers=%d", (int)inliers.size());
// words3D should have the same size than words
// words3D should have the same size than words if not empty
float bad_point = std::numeric_limits<float>::quiet_NaN ();
UASSERT(words.size() == words3D.size());
UASSERT(words3D.size() == 0 || words.size() == words3D.size());
bool words3DWasEmpty = words3D.empty();
int added3DPointsWithoutDepth = 0;
for(std::multimap<int, cv::KeyPoint>::const_iterator iter=words.begin(); iter!=words.end(); ++iter)
{
@@ -4327,6 +4328,11 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
iter3D->second = jter->second;
++added3DPointsWithoutDepth;
}
else if(words3DWasEmpty && jter == inliers.end())
{
// duplicate
words3D.insert(std::make_pair(iter->first, cv::Point3f(bad_point,bad_point,bad_point)));
}
}
UDEBUG("added3DPointsWithoutDepth=%d", added3DPointsWithoutDepth);
if(stats) stats->addStatistic(Statistics::kMemoryTriangulated_points(), (float)added3DPointsWithoutDepth);