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merged master to imu_feature

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This commit is contained in:
matlabbe
2019-05-31 15:39:49 -04:00
parent e887d462ce cd6e51a968
commit d5d00fbd7d
5 changed files with 22 additions and 18 deletions
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corelib/src/VWDictionary.cpp
+4 -3
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@@ -526,6 +526,7 @@ void VWDictionary::update()
UTimer timer;
timer.start();
int dim = _visualWords.begin()->second->getDescriptor().cols;
int type;
if(_visualWords.begin()->second->getDescriptor().type() == CV_8U)
{
@@ -533,6 +534,7 @@ void VWDictionary::update()
if(_strategy == kNNFlannKdTree)
{
type = CV_32F;
dim *= 8;
}
else
{
@@ -543,7 +545,6 @@ void VWDictionary::update()
{
type = _visualWords.begin()->second->getDescriptor().type();
}
int dim = _visualWords.begin()->second->getDescriptor().cols;
UASSERT(type == CV_32F || type == CV_8U);
UASSERT(dim > 0);
@@ -570,8 +571,8 @@ void VWDictionary::update()
descriptor = iter->second->getDescriptor();
}
UASSERT(descriptor.cols == dim);
UASSERT(descriptor.type() == type);
UASSERT_MSG(descriptor.type() == type, uFormat("%d vs %d", descriptor.type(), type).c_str());
UASSERT_MSG(descriptor.cols == dim, uFormat("%d vs %d", descriptor.cols, dim).c_str());
descriptor.copyTo(_dataTree.row(i));
_mapIndexId.insert(_mapIndexId.end(), std::pair<int, int>(i, iter->second->id()));