added reprojector option to not use feature alignment

2014-03-31 19:47:12 +02:00
parent 8cf1504f7c
commit 6308c10fa2
2 changed files with 6 additions and 2 deletions
@@ -163,7 +163,9 @@ bool Reprojector::reprojectCell(Cell& cell, FramePtr frame)
    }

    int feature_level;
-    bool found_match = matcher::findMatchDirect(*it->pt, *frame, it->px, feature_level);
+    bool found_match = true;
+    if(options_.find_match_direct)
+      found_match = matcher::findMatchDirect(*it->pt, *frame, it->px, feature_level);
    if(!found_match)
    {
      it->pt->n_failed_reproj_++;