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OdometryF2F: Fixed broken OpticalFlow approach

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matlabbe
2016-02-24 17:42:23 -05:00
parent 172e9857c7
commit a8d1b91083
8 changed files with 55 additions and 45 deletions
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corelib/src/Memory.cpp
+1 -1
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@@ -3104,7 +3104,7 @@ Signature * Memory::createSignature(const SensorData & data, const Transform & p
}
std::vector<cv::Point3f> keypoints3D;
if(!_useOdometryFeatures || data.keypoints().size() == 0)
if(!_useOdometryFeatures || (data.keypoints().size() != data.descriptors().rows))
{
if(_feature2D->getMaxFeatures() >= 0 && !data.imageRaw().empty() && !isIntermediateNode)
{