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DbViewer: fixed not reextracted features when reextract features is on

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matlabbe
2017-05-10 18:00:30 -04:00
parent 98184c31de
commit 62fdb8d0af
1 changed files with 11 additions and 0 deletions
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11
guilib/src/DatabaseViewer.cpp
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@@ -4894,6 +4894,17 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
fromS->sensorData().uncompressData(); fromS->sensorData().uncompressData();
dbDriver_->getNodeData(to, toS->sensorData()); dbDriver_->getNodeData(to, toS->sensorData());
toS->sensorData().uncompressData(); toS->sensorData().uncompressData();
if(reextractVisualFeatures)
{
fromS->setWords(std::multimap<int, cv::KeyPoint>());
fromS->setWords3(std::multimap<int, cv::Point3f>());
fromS->setWordsDescriptors(std::multimap<int, cv::Mat>());
fromS->sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
toS->setWords(std::multimap<int, cv::KeyPoint>());
toS->setWords3(std::multimap<int, cv::Point3f>());
toS->setWordsDescriptors(std::multimap<int, cv::Mat>());
toS->sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
}
} }
t = reg->computeTransformationMod(*fromS, *toS, Transform(), &info); t = reg->computeTransformationMod(*fromS, *toS, Transform(), &info);