add missing filterKeypointsByDepth step

introlab · Oct 24, 2023 · 699fe17 · 699fe17
1 parent 71bb0cf
commit 699fe17
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/corelib/src/Memory.cpp b/corelib/src/Memory.cpp
@@ -4970,6 +4970,10 @@ Signature * Memory::createSignature(const SensorData & inputData, const Transfor
 					if(stats) stats->addStatistic(Statistics::kTimingMemKeypoints_3D(), t*1000.0f);
 					UDEBUG("time keypoints 3D (%d) = %fs", (int)keypoints3D.size(), t);
 				}
+				if(_feature2D->getMinDepth() > 0.0f || _feature2D->getMaxDepth() > 0.0f)
+				{
+					_feature2D->filterKeypointsByDepth(keypoints, descriptors, keypoints3D, _feature2D->getMinDepth(), _feature2D->getMaxDepth());
+				}
 			}
 		}
 		else if(data.imageRaw().empty())