From 3ea44f142b89c3de24daa33f122d42014aa906b1 Mon Sep 17 00:00:00 2001
From: Lukasz Janyst <lj@ddln.ai>
Date: Mon, 26 Nov 2018 10:49:23 +0100
Subject: [PATCH] Remove a cluster from the cluster list if no close
 descriptors were found

Fixes #39.
---
 include/DBoW2/TemplatedVocabulary.h | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/include/DBoW2/TemplatedVocabulary.h b/include/DBoW2/TemplatedVocabulary.h
index 6d8d6210..cdd36ad7 100644
--- 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)