i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-05 17:47:49 +08:00
Code Issues Packages Projects Releases Wiki Activity

OdomF2M: added support to laser scan

Browse Source
This commit is contained in:
matlabbe
2016-03-06 15:11:09 -05:00
parent eefd557ab4
commit 7a1cf84b08
22 changed files with 696 additions and 226 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/Memory.cpp
+1 -1
View File
@@ -3107,7 +3107,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
}
std::vector<cv::Point3f> keypoints3D;
if(!_useOdometryFeatures || (data.keypoints().size() != data.descriptors().rows))
if(!_useOdometryFeatures || data.keypoints().empty() || data.keypoints().size() != data.descriptors().rows)
{
if(_feature2D->getMaxFeatures() >= 0 && !data.imageRaw().empty() && !isIntermediateNode)
{