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Fixed crash when using binary descriptors and maxWords/maxDepth are set

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Added BRISK detector

git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1839 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-10-06 19:41:45 +00:00
parent d30c2baf51
commit 4d4c5af6e5
10 changed files with 303 additions and 27 deletions
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corelib/src/VWDictionary.cpp
+1 -1
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@@ -378,7 +378,7 @@ void VWDictionary::removeAllWordRef(int wordId, int signatureId)
std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
int signatureId)
{
UDEBUG("");
UDEBUG("id=%d descriptors=%d", signatureId, descriptors.rows);
UTimer timer;
std::list<int> wordIds;
if(descriptors.rows == 0 || descriptors.cols == 0)