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Vis: fixed assert when doing bundle adjustment with SignatureTo having no 3d words

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matlabbe
2019-01-16 19:29:57 -05:00
parent 479fb6cbca
commit d45b77c0b7
1 changed files with 5 additions and 2 deletions
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7
corelib/src/RegistrationVis.cpp
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@@ -1565,9 +1565,12 @@ Transform RegistrationVis::computeTransformationImpl(
} }
if(toSignature.getWords().size() && cameraModelTo.isValidForProjection()) if(toSignature.getWords().size() && cameraModelTo.isValidForProjection())
{ {
float depthTo = util3d::transformPoint(toSignature.getWords3().find(wordId)->second, invLocalTransformTo).z; float depthTo = 0.0f;
if(toSignature.getWords3().find(wordId) != toSignature.getWords3().end())
{
depthTo = util3d::transformPoint(toSignature.getWords3().find(wordId)->second, invLocalTransformTo).z;
}
const cv::KeyPoint & kpt = toSignature.getWords().find(wordId)->second; const cv::KeyPoint & kpt = toSignature.getWords().find(wordId)->second;
UASSERT(toSignature.getWords3().find(wordId) != toSignature.getWords3().end());
ptMap.insert(std::make_pair(2,FeatureBA(kpt, depthTo))); ptMap.insert(std::make_pair(2,FeatureBA(kpt, depthTo)));
} }