Remove remove a cluster from the cluster list if no close descriptors were found

ljanyst · ljanyst · commit 6c4464de85cf · 2018-11-26T10:49:23.000+01:00
Fixes dorian3d#39.
diff --git a/include/DBoW2/TemplatedVocabulary.h b/include/DBoW2/TemplatedVocabulary.h
@@ -712,6 +712,10 @@ void TemplatedVocabulary<TDescriptor,F>::HKmeansStep(NodeId parent_id,
           
           
           F::meanValue(cluster_descriptors, clusters[c]);
+          if (clusters[c].empty()) {
+            clusters.erase(clusters.begin() + c);
+          }
+
         }
         
       } // if(!first_time)

Original file line number	Diff line number	Diff line change
`@@ -712,6 +712,10 @@ void TemplatedVocabulary<TDescriptor,F>::HKmeansStep(NodeId parent_id,`
`712`	`712`
`713`	`713`
`714`	`714`	`F::meanValue(cluster_descriptors, clusters[c]);`
	`715`	`+ if (clusters[c].empty()) {`
	`716`	`+ clusters.erase(clusters.begin() + c);`
	`717`	`+ }`
	`718`	`+`
`715`	`719`	`}`
`716`	`720`
`717`	`721`	`} // if(!first_time)`