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Fixed assert when Mem/DepthAsMash=false and Vis/MaxDepth or Vis/MinDepth are set

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matlabbe
2019-05-07 21:09:46 -04:00
parent 0fd69f22d4
commit 5b5b594f4a
1 changed files with 5 additions and 3 deletions
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8
corelib/src/RegistrationVis.cpp
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@@ -621,11 +621,13 @@ Transform RegistrationVis::computeTransformationImpl(
}
kptsFrom3D = detectorFrom->generateKeypoints3D(fromSignature.sensorData(), kptsFrom);
UDEBUG("generated kptsFrom3D=%d", (int)kptsFrom3D.size());
if(detectorFrom->getMinDepth() > 0.0f || detectorFrom->getMaxDepth() > 0.0f)
if(!kptsFrom3D.empty() && (detectorFrom->getMinDepth() > 0.0f || detectorFrom->getMaxDepth() > 0.0f))
{
//remove all keypoints/descriptors with no valid 3D points
UASSERT((int)kptsFrom.size() == descriptorsFrom.rows &&
kptsFrom3D.size() == kptsFrom.size());
UASSERT_MSG((int)kptsFrom.size() == descriptorsFrom.rows &&
kptsFrom3D.size() == kptsFrom.size(),
uFormat("kptsFrom=%d descriptorsFrom=%d kptsFrom3D=%d",
(int)kptsFrom.size(), descriptorsFrom.rows, (int)kptsFrom3D.size()).c_str());
std::vector<cv::KeyPoint> validKeypoints(kptsFrom.size());
std::vector<cv::Point3f> validKeypoints3D(kptsFrom.size());
cv::Mat validDescriptors(descriptorsFrom.size(), descriptorsFrom.type());