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Fixed GUI crash when using rectified RGB only (with odometry). Fixed empty local map when loading a fixed local map for OdometryF2M.

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matlabbe
2016-11-25 19:52:34 -05:00
parent da1cac1e55
commit 693f623e5e
6 changed files with 23 additions and 66 deletions
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corelib/src/RegistrationVis.cpp
+7 -4
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@@ -552,7 +552,7 @@ Transform RegistrationVis::computeTransformationImpl(
// create 3D keypoints
std::vector<cv::Point3f> kptsFrom3D;
std::vector<cv::Point3f> kptsTo3D;
if(fromSignature.getWords3().empty() || kptsFrom.size() != fromSignature.getWords3().size())
if(fromSignature.getWords3().empty() || (kptsFrom.size() && kptsFrom.size() != fromSignature.getWords3().size()))
{
if(fromSignature.getWords3().size() && kptsFrom.size() != fromSignature.getWords3().size())
{
@@ -890,9 +890,9 @@ Transform RegistrationVis::computeTransformationImpl(
// match between all descriptors
VWDictionary dictionary(_featureParameters);
std::list<int> fromWordIds;
for(unsigned int i=0; i<kptsFrom.size(); ++i)
for (unsigned int i = 0; i < descriptorsFrom.rows; ++i)
{
int id = orignalWordsFromIds.size()?orignalWordsFromIds[i]:i;
int id = orignalWordsFromIds.size() ? orignalWordsFromIds[i] : i;
dictionary.addWord(new VisualWord(id, descriptorsFrom.row(i), 1));
fromWordIds.push_back(id);
}
@@ -915,7 +915,10 @@ Transform RegistrationVis::computeTransformationImpl(
{
if(fromWordIdsSet.count(*iter) == 1)
{
wordsFrom.insert(std::make_pair(*iter, kptsFrom[i]));
if (kptsFrom.size())
{
wordsFrom.insert(std::make_pair(*iter, kptsFrom[i]));
}
if(kptsFrom3D.size())
{
words3From.insert(std::make_pair(*iter, kptsFrom3D[i]));