ProcessorLoopClosureBase : computeFeatures returns a bool

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

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);