Handle edge case when SuperPoint detects only 1 keypoint#1509
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matlabbe merged 3 commits intointrolab:masterfrom May 24, 2025
Merged
Handle edge case when SuperPoint detects only 1 keypoint#1509matlabbe merged 3 commits intointrolab:masterfrom
matlabbe merged 3 commits intointrolab:masterfrom
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The loop closure performance was not the same after the change. There was a missing "normalize" step to normalize the descriptors. The resulting descriptors are now exactly the same, while handling the single descriptor case. |
naidjeldias
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May 27, 2025
* Handle edge case when SuperPoint detects only 1 keypoint * missing normalize --------- Co-authored-by: matlabbe <matlabbe@gmail.com>
naidjeldias
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to Synkar/rtabmap
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May 28, 2025
* Handle edge case when SuperPoint detects only 1 keypoint * missing normalize --------- Co-authored-by: matlabbe <matlabbe@gmail.com>
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Fixes #1505. When SuperPoint detects exactly 1 feature for a photo, dimensions are collapsed and the application crashes during the transpose operation at line 247.