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modified how correspondences ratio is computed (icp 2D and 3D), also fixed build with OpenCV3+Cuda

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Mathieu Labbé
2015-07-11 12:42:46 -04:00
parent bf295c4274
commit 2d7be6be48
12 changed files with 388 additions and 339 deletions
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corelib/src/VWDictionary.cpp
+7 -6
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@@ -506,15 +506,16 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
#ifdef HAVE_OPENCV_CUDAFEATURES2D
cv::cuda::GpuMat newDescriptorsGpu(descriptors);
cv::cuda::GpuMat lastDescriptorsGpu(_dataTree);
cv::Ptr<cv::cuda::DescriptorMatcher> gpuMatcher;
if(type==CV_8U)
{
cv::cuda::BruteForceMatcher_GPU<cv::Hamming> gpuMatcher;
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_HAMMING);
gpuMatcher->knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
else
{
cv::cuda::BruteForceMatcher_GPU<cv::L2<float> > gpuMatcher;
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_L2);
gpuMatcher->knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
#endif
#endif
@@ -742,12 +743,12 @@ std::vector<int> VWDictionary::findNN(const std::list<VisualWord *> & vws) const
if(type==CV_8U)
{
gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_HAMMING);
gpuMatcher->knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
gpuMatcher->knnMatchAsync(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
else
{
gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_L2);
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
gpuMatcher->knnMatchAsync(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
#endif
#endif