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DbViewer: added warning when reextract feature is false and signatures have no features

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matlabbe
2017-07-24 11:48:49 -04:00
parent 48148a9e26
commit edc690973a
1 changed files with 9 additions and 0 deletions
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9
guilib/src/DatabaseViewer.cpp
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@@ -4839,6 +4839,15 @@ bool DatabaseViewer::addConstraint(int from, int to, bool silent)
toS->sensorData().setFeatures(std::vector<cv::KeyPoint>(), std::vector<cv::Point3f>(), cv::Mat());
}
}
else if(!reextractVisualFeatures && fromS->getWords().empty() && toS->getWords().empty())
{
UWARN("\"%s\" is false and signatures (%d and %d) don't have words, "
"registration will not be possible. Set \"%s\" to true.",
Parameters::kRGBDLoopClosureReextractFeatures().c_str(),
fromS->id(),
toS->id(),
Parameters::kRGBDLoopClosureReextractFeatures().c_str());
}
t = reg->computeTransformationMod(*fromS, *toS, Transform(), &info);
delete reg;