From 4201f9bcf3807f470c17ea6c97748a693cd6c818 Mon Sep 17 00:00:00 2001
From: PierreGtch <pierre.guetschel@gmail.com>
Date: Tue, 18 Jun 2019 14:51:51 +0200
Subject: [PATCH] ProcessorLoopClosureBase : computeFeatures returns a bool
---
include/core/processor/processor_loopclosure_base.h | 4 +++-
src/processor/processor_loopclosure_base.cpp | 4 ++--
2 files changed, 5 insertions(+), 3 deletions(-)
diff --git a/include/core/processor/processor_loopclosure_base.h b/include/core/processor/processor_loopclosure_base.h
index 151e7def9..944a1ca29 100644
--- a/include/core/processor/processor_loopclosure_base.h
+++ b/include/core/processor/processor_loopclosure_base.h
@@ -89,8 +89,10 @@ protected:
*
* In this method you should add the capture to the keyframe if necessary
* and add the features to the capture
+ *
+ * Returns a bool that tells if features were successfully created
*/
- virtual void computeFeatures(std::pair<FrameBasePtr,CaptureBasePtr>) = 0;
+ virtual bool computeFeatures(std::pair<FrameBasePtr,CaptureBasePtr>) = 0;
/** \brief Find a KF that would be a good candidate to close a loop
* if validateLoop is not overwritten, a loop will be closed with the returned candidate
diff --git a/src/processor/processor_loopclosure_base.cpp b/src/processor/processor_loopclosure_base.cpp
index f981cb0ab..04408df13 100644
--- a/src/processor/processor_loopclosure_base.cpp
+++ b/src/processor/processor_loopclosure_base.cpp
@@ -28,9 +28,9 @@ void ProcessorLoopClosureBase::process(CaptureBasePtr _incoming_ptr)
{
std::pair<FrameBasePtr,CaptureBasePtr> pairKC = selectPairKC();
if (pairKC.first==nullptr || pairKC.second==nullptr) return;
- computeFeatures(pairKC);
+ bool success_computeFeatures = computeFeatures(pairKC);
- if (voteSearchLoopClosure(_incoming_ptr))
+ if (success_computeFeatures && voteSearchLoopClosure(_incoming_ptr))
{
CaptureBasePtr capture_1 = pairKC.second;
CaptureBasePtr capture_2 = findLoopCandidate(capture_1);
--
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