Remove a cluster from the cluster list if no close descriptors were f…

…ound Fixes dorian3d#39.
ljanyst · Nov 26, 2018 · 3ea44f1 · 3ea44f1
1 parent 4d08e9f
commit 3ea44f1
Showing 1 changed file with 4 additions and 0 deletions.
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)