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RegistraitonVis: generate always 3D keypoints if possible

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matlabbe
2016-02-29 16:41:37 -05:00
parent 6d06b66496
commit e6e9c61c38
3 changed files with 4 additions and 5 deletions
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2
corelib/src/OdometryF2M.cpp
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@@ -228,7 +228,7 @@ Transform OdometryF2M::computeTransform(
std::multimap<int, cv::Mat> mapDescriptors = map_->getWordsDescriptors();
Transform t = this->getPose()*output;
UASSERT(mapPoints.size() == mapDescriptors.size());
UASSERT(lastFrame_->getWordsDescriptors().size() == lastFrame_->getWords3().size());
UASSERT_MSG(lastFrame_->getWordsDescriptors().size() == lastFrame_->getWords3().size(), uFormat("%d vs %d", lastFrame_->getWordsDescriptors().size(), lastFrame_->getWords3().size()).c_str());
std::list<int> newIds = uUniqueKeys(lastFrame_->getWordsDescriptors());
for(std::list<int>::iterator iter=newIds.begin(); iter!=newIds.end(); ++iter)
{