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Added SuperGlue support (Vis/CorNNType=6). Added rtabmap-matcher tool. DBViewer: show matches/inliers when refine also fails. SIFT: make sift always available on OpenCV 4.3.0 (#538). Parameters: changed SPTorch prefix to SuperPoint, replaced Vis/CorCrossCheck by Vis/CorNNType=5.

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This commit is contained in:
matlabbe
2020-05-09 21:13:41 -04:00
parent abc3ebee8c
commit 91285e5e97
35 changed files with 1554 additions and 249 deletions
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corelib/src/VWDictionary.cpp
+34 -31
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@@ -279,47 +279,50 @@ void VWDictionary::setFixedDictionary(const std::string & dictionaryPath)
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;
}
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;
}
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
#ifdef 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;
}
if(strategy == kNNBruteForceGPU && !cv::cuda::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 cudafeatures2d module is not found! Doing \"kNNBruteForce\" instead.");
strategy = kNNBruteForce;
}
if(strategy == kNNBruteForceGPU)
{
UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but OpenCV cudafeatures2d module is not found! Doing \"kNNBruteForce\" instead.");
strategy = kNNBruteForce;
}
#endif
#endif
bool update = _strategy != strategy;
_strategy = strategy;
if(update)
{
_dataTree = cv::Mat();
_notIndexedWords = uKeysSet(_visualWords);
_removedIndexedWords.clear();
this->update();
}
if(strategy>=kNNUndef)
{
UERROR("Nearest neighobr strategy \"%d\" chosen but this strategy cannot be used with a dictionary! Doing \"kNNBruteForce\" instead.");
strategy = kNNBruteForce;
}
bool update = _strategy != strategy;
_strategy = strategy;
if(update)
{
_dataTree = cv::Mat();
_notIndexedWords = uKeysSet(_visualWords);
_removedIndexedWords.clear();
this->update();
}
}