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Memory::computeTransform(): Fixed empty "from" image when reextract features is true and ICP-only registration is used

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matlabbe
2017-01-05 19:31:18 -05:00
parent f20cb6ff52
commit 8895173a2b
2 changed files with 18 additions and 12 deletions
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corelib/src/RegistrationVis.cpp
+12 -6
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@@ -194,23 +194,27 @@ Transform RegistrationVis::computeTransformationImpl(
UDEBUG("%s=%d", Parameters::kVisCorFlowMaxLevel().c_str(), _flowMaxLevel);
UDEBUG("guess=%s", guess.prettyPrint().c_str());
UDEBUG("Input(%d): from=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors",
UDEBUG("Input(%d): from=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors, image=%dx%d",
fromSignature.id(),
(int)fromSignature.getWords().size(),
(int)fromSignature.getWords3().size(),
(int)fromSignature.getWordsDescriptors().size(),
(int)fromSignature.sensorData().keypoints().size(),
(int)fromSignature.sensorData().keypoints3D().size(),
fromSignature.sensorData().descriptors().rows);
fromSignature.sensorData().descriptors().rows,
fromSignature.sensorData().imageRaw().cols,
fromSignature.sensorData().imageRaw().rows);
UDEBUG("Input(%d): to=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors",
UDEBUG("Input(%d): to=%d words, %d 3D words, %d words descriptors, %d kpts, %d kpts3D, %d descriptors, image=%dx%d",
toSignature.id(),
(int)toSignature.getWords().size(),
(int)toSignature.getWords3().size(),
(int)toSignature.getWordsDescriptors().size(),
(int)toSignature.sensorData().keypoints().size(),
(int)toSignature.sensorData().keypoints3D().size(),
toSignature.sensorData().descriptors().rows);
toSignature.sensorData().descriptors().rows,
toSignature.sensorData().imageRaw().cols,
toSignature.sensorData().imageRaw().rows);
std::string msg;
@@ -1423,8 +1427,10 @@ Transform RegistrationVis::computeTransformationImpl(
}
else if(toSignature.sensorData().isValid())
{
UWARN("Missing correspondences for registration (%d->%d). toWords = %d toImageEmpty=%d",
fromSignature.id(), toSignature.id(), (int)toSignature.getWords().size(), toSignature.sensorData().imageRaw().empty()?1:0);
UWARN("Missing correspondences for registration (%d->%d). fromWords = %d fromImageEmpty=%d toWords = %d toImageEmpty=%d",
fromSignature.id(), toSignature.id(),
(int)fromSignature.getWords().size(), fromSignature.sensorData().imageRaw().empty()?1:0,
(int)toSignature.getWords().size(), toSignature.sensorData().imageRaw().empty()?1:0);
}
info.inliers = inliersCount;