Résolution du problème du nombre de match (Asift_matcher)

README.md

@@ -30,7 +30,6 @@ Thus refrences are required for the module to work properly. It can be loaded th
 ### Done
 
 ### Todo
-asift_matching - ASIFT_matcher : Issue on total number of match (after filtering ?).
 asift_matching - ROS_matcher : Working loader of images for reference.
 asift_matching - ROS_matcher : Improve reactivity. Slow process due to the message queue length ?
 asift_matching - ROS_matcher : Swap the callback function to a service called for matching.

README.md~

@@ -63,7 +63,7 @@ asift_matching - ROS_matcher : Swap the callback function to a service called fo
  - roslaunch rviz_interface interface_plannar_seg.launch
 * Setup rviz :
  - set fixed frame to camera_rgb_optical_frame.
- - add an InteractiveMarker and set topic to /RvizInterface/update.
+ - add an InteractiveMarker and set topic to (server_topic parameter)/update.
  - add a Marker and set topic to vizualization_topic parameter.
  - add the Rviz interface panel.
  - add a PointCloud2 and set topic to /camera/depth_registered/points.
@@ -80,7 +80,7 @@ asift_matching - ROS_matcher : Swap the callback function to a service called fo
  - roslaunch rviz_interface interface_matching.launch
 * Setup rviz :
  - set fixed frame to camera_rgb_optical_frame.
- - add an InteractiveMarker and set topic to /RvizInterface/update.
+ - add an InteractiveMarker and set topic to (server_topic parameter)/update.
  - add a Marker and set topic to vizualization_topic parameter.
  - add the Rviz interface panel.
  - add a PointCloud2 and set topic to /camera/depth_registered/points.

asift_gen/ASIFT_matcher.cpp

@@ -371,6 +371,8 @@ unsigned int ASIFT_matcher::match(const vector<float>& image, unsigned int w, un
 
 	//// Match ASIFT keypoints
 	_total_num_matchings=0;
+	_num_matchings.clear();
+	_matchings.clear();
 
 	for(unsigned int i = 0; i<_nb_refs;i++)
 	{

asift_matching/src/ASIFT_matcher.cpp

@@ -371,6 +371,8 @@ unsigned int ASIFT_matcher::match(const vector<float>& image, unsigned int w, un
 
 	//// Match ASIFT keypoints
 	_total_num_matchings=0;
+	_num_matchings.clear();
+	_matchings.clear();
 
 	for(unsigned int i = 0; i<_nb_refs;i++)
 	{