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Fixed #1483.

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This commit is contained in:
matlabbe
2025-04-13 15:58:21 -07:00
parent 08f031e11c
commit b750e94eaa
6 changed files with 50 additions and 16 deletions
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7
corelib/src/Optimizer.cpp
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@@ -612,6 +612,13 @@ void Optimizer::computeBACorrespondences(
sFrom.setWordsDescriptors(cv::Mat());
sTo.setWordsDescriptors(cv::Mat());
}
else if(sFrom.getWordsDescriptors().empty() && sTo.getWordsDescriptors().empty())
{
UWARN("Rematching features is enabled but signatures (%d and %d) don't have word descriptors!? "
"Features won't be rematched. If it is an old database, do rtabmap-reprocess "
"so that signatures contain word desriptors.",
sFrom.id(), sTo.id());
}
RegistrationInfo info;
Transform t = reg.computeTransformationMod(sFrom, sTo, Transform(), &info);

2
corelib/src/RegistrationVis.cpp
View File

@@ -372,7 +372,7 @@ Transform RegistrationVis::computeTransformationImpl(
(_estimationType==1 || toSignature.getWords3().size())) // required only for 3D->3D and 2D->2D
{
// no need to extract new features, we have all the data we need
UDEBUG("Bypassing feature matching as descriptors and images are empty. We assume features are already matched.");
UDEBUG("Bypassing feature matching as descriptors are empty. We assume features are already matched.");
}
else
{