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Updated cmake for ARM/Android build

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This commit is contained in:
matlabbe
2016-01-21 17:11:57 -05:00
parent c367fe915e
commit 874816b679
13 changed files with 150 additions and 33 deletions
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corelib/src/VWDictionary.cpp
+23 -2
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@@ -462,24 +462,33 @@ void VWDictionary::setNNStrategy(NNStrategy strategy)
if(strategy!=kNNUndef)
{
#if CV_MAJOR_VERSION < 3
#ifdef HAVE_OPENCV_GPU
if(strategy == kNNBruteForceGPU && !cv::gpu::getCudaEnabledDeviceCount())
{
UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but no CUDA devices found! Doing \"kNNBruteForce\" instead.");
strategy = kNNBruteForce;
}
#else
if(strategy == kNNBruteForceGPU)
{
UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but OpenCV is not built with GPU/cuda module! Doing \"kNNBruteForce\" instead.");
strategy = kNNBruteForce;
}
#endif
#else
#if HAVE_OPENCV_CUDAFEATURES2D
if(strategy == kNNBruteForceGPU && !cv::cuda::getCudaEnabledDeviceCount())
{
UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but no CUDA devices found! Doing \"kNNBruteForce\" instead.");
strategy = kNNBruteForce;
}
#endif
#ifndef HAVE_OPENCV_CUDAFEATURES2D
#else
if(strategy == kNNBruteForceGPU)
{
UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but OpenCV cudafeatures2d module is not found! Doing \"kNNBruteForce\" instead.");
strategy = kNNBruteForce;
}
#endif
#endif
if(RTABMAP_NONFREE == 0 && strategy == kNNFlannKdTree)
@@ -832,6 +841,7 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
{
bruteForce = true;
#if CV_MAJOR_VERSION < 3
#ifdef HAVE_OPENCV_GPU
cv::gpu::GpuMat newDescriptorsGpu(descriptors);
cv::gpu::GpuMat lastDescriptorsGpu(_dataTree);
if(type==CV_8U)
@@ -844,6 +854,9 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
cv::gpu::BruteForceMatcher_GPU<cv::L2<float> > gpuMatcher;
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
#else
UERROR("Cannot use brute Force GPU because OpenCV is not built with gpu module.");
#endif
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
cv::cuda::GpuMat newDescriptorsGpu(descriptors);
@@ -859,6 +872,8 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_L2);
gpuMatcher->knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
#else
UERROR("Cannot use brute Force GPU because OpenCV is not built with cuda module.");
#endif
#endif
}
@@ -1068,6 +1083,7 @@ std::vector<int> VWDictionary::findNN(const std::list<VisualWord *> & vws) const
{
bruteForce = true;
#if CV_MAJOR_VERSION < 3
#ifdef HAVE_OPENCV_GPU
cv::gpu::GpuMat newDescriptorsGpu(query);
cv::gpu::GpuMat lastDescriptorsGpu(_dataTree);
if(type==CV_8U)
@@ -1080,6 +1096,9 @@ std::vector<int> VWDictionary::findNN(const std::list<VisualWord *> & vws) const
cv::gpu::BruteForceMatcher_GPU<cv::L2<float> > gpuMatcher;
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
#else
UERROR("Cannot use brute Force GPU because OpenCV is not built with gpu module.");
#endif
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
cv::cuda::GpuMat newDescriptorsGpu(query);
@@ -1095,6 +1114,8 @@ std::vector<int> VWDictionary::findNN(const std::list<VisualWord *> & vws) const
gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_L2);
gpuMatcher->knnMatchAsync(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
#else
UERROR("Cannot use brute Force GPU because OpenCV is not built with cuda module.");
#endif
#endif
}