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minor changes...

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git-svn-id: http://rtabmap.googlecode.com/svn/branches/0.3/rtabmap@57 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2011-06-05 21:10:49 +00:00
parent 6adde9b286
commit 6fccc56e7a
7 changed files with 101 additions and 36 deletions
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6
corelib/src/KeypointMemory.cpp
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@@ -829,7 +829,7 @@ Signature * KeypointMemory::createSignature(int id, const SMState * smState, boo
nbCommonWords = _vwd->getTotalActiveReferences() / treeSize;
}
if(!smState->isDescriptorsProvided())
if(smState->getSensors().empty())
{
image = smState->getImage();
if(image && _keypointDetector)
@@ -847,9 +847,9 @@ Signature * KeypointMemory::createSignature(int id, const SMState * smState, boo
}
else
{
if(smState->getSensorStates().size() >= _badSignRatio * nbCommonWords)
if(smState->getSensors().size() >= _badSignRatio * nbCommonWords)
{
descriptors = smState->getSensorStates();
descriptors = smState->getSensors();
keypoints = smState->getKeypoints();
}
image = smState->getImage();