i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-07 02:27:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

VWDictionary: use multi-core FLANN kNN search (#1760)

Browse Source 
* VWDictionary: use multi-core FLANN kNN search

* Add parameter with default 1 thread

* Kp/FlannTreads plumbing  to UI. Also added to performance tests for comparison.

* fixing ci error

* dump debug data for windows ci

* Adding  more dll debugging report windows ci

* install vc2012 runtime explicitly

* updated comment

---------

Co-authored-by: matlabbe <[email protected]>
This commit is contained in:
Torjus Iveland
2026-09-10 23:22:00 -07:00
committed by GitHub
co-authored by matlabbe
parent fb457255b7
commit 2fbbe19d70
10 changed files with 283 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files
corelib/src/VWDictionary.cpp
+4 -2
View File
@@ -101,6 +101,7 @@ VWDictionary::VWDictionary(const ParametersMap & parameters) :
_incrementalDictionary(Parameters::defaultKpIncrementalDictionary()),
_incrementalFlann(Parameters::defaultKpIncrementalFlann()),
_rebalancingFactor(Parameters::defaultKpFlannRebalancingFactor()),
_flannThreads(Parameters::defaultKpFlannThreads()),
_byteToFloat(Parameters::defaultKpByteToFloat()),
_nndrRatio(Parameters::defaultKpNndrRatio()),
_newDictionaryPath(Parameters::defaultKpDictionaryPath()),
@@ -130,6 +131,7 @@ void VWDictionary::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kKpSerializeWithChecksum(), _serializeWithChecksum);
Parameters::parse(parameters, Parameters::kKpIncrementalFlann(), _incrementalFlann);
Parameters::parse(parameters, Parameters::kKpFlannRebalancingFactor(), _rebalancingFactor);
Parameters::parse(parameters, Parameters::kKpFlannThreads(), _flannThreads);
bool byteToFloat = _byteToFloat;
Parameters::parse(parameters, Parameters::kKpByteToFloat(), _byteToFloat);
@@ -1074,7 +1076,7 @@ std::list<int> VWDictionary::addNewWords(
if(isFlannStrategy(_strategy))
{
_flannIndex->knnSearch(descriptors, results, dists, k, KNN_CHECKS);
_flannIndex->knnSearch(descriptors, results, dists, k, KNN_CHECKS, 0.0f, true, _flannThreads);
}
else if(_strategy == kNNBruteForce)
{
@@ -1396,7 +1398,7 @@ std::vector<int> VWDictionary::findNN(const cv::Mat & queryIn) const
if(isFlannStrategy(_strategy))
{
_flannIndex->knnSearch(query, results, dists, k, KNN_CHECKS);
_flannIndex->knnSearch(query, results, dists, k, KNN_CHECKS, 0.0f, true, _flannThreads);
}
else if(_strategy == kNNBruteForce)
{