Fix reallocation issue of raw poses vector

8 years ago · 6b6d5a4890
parent 53e34260b1
commit 6b6d5a4890
2 changed files with 2 additions and 2 deletions
--- a/modules/surface_matching/include/opencv2/surface_matching/ppf_match_3d.hpp
+++ b/modules/surface_matching/include/opencv2/surface_matching/ppf_match_3d.hpp
@ -166,7 +166,7 @@ private:

  bool matchPose(const Pose3D& sourcePose, const Pose3D& targetPose);

-  void clusterPoses(std::vector<Pose3DPtr> poseList, int numPoses, std::vector<Pose3DPtr> &finalPoses);
+  void clusterPoses(std::vector<Pose3DPtr>& poseList, int numPoses, std::vector<Pose3DPtr> &finalPoses);

  bool trained;
 };
--- a/modules/surface_matching/src/ppf_match_3d.cpp
+++ b/modules/surface_matching/src/ppf_match_3d.cpp
@ -327,7 +327,7 @@ bool PPF3DDetector::matchPose(const Pose3D& sourcePose, const Pose3D& targetPose
  return (phi<this->rotation_threshold && dNorm < this->position_threshold);
 }

-void PPF3DDetector::clusterPoses(std::vector<Pose3DPtr> poseList, int numPoses, std::vector<Pose3DPtr> &finalPoses)
+void PPF3DDetector::clusterPoses(std::vector<Pose3DPtr>& poseList, int numPoses, std::vector<Pose3DPtr> &finalPoses)
 {
  std::vector<PoseCluster3DPtr> poseClusters;