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Merge pull request #279 from buzziam/master

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Fix for Itseez/opencv_contrib/issues/278 - core dump in the case of no match(...) results.
This commit is contained in:
Vadim Pisarevsky
2015-07-01 13:36:40 +03:00
parent cf1cc73748 8e52a098e9
commit 5ec764d8bd
1 changed files with 16 additions and 3 deletions
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17
modules/surface_matching/samples/ppf_load_match.cpp
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@@ -111,8 +111,21 @@ int main(int argc, char** argv)
cout << endl << "PPF Elapsed Time " <<
(tick2-tick1)/cv::getTickFrequency() << " sec" << endl;
// Get only first N results
int N = 2;
//check results size from match call above
size_t results_size = results.size();
cout << "Number of matching poses: " << results_size;
if (results_size == 0) {
cout << endl << "No matching poses found. Exiting." << endl;
exit(0);
}
// Get only first N results - but adjust to results size if num of results are less than that specified by N
size_t N = 2;
if (results_size < N) {
cout << endl << "Reducing matching poses to be reported (as specified in code): "
<< N << " to the number of matches found: " << results_size << endl;
N = results_size;
}
vector<Pose3DPtr> resultsSub(results.begin(),results.begin()+N);
// Create an instance of ICP