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Enabled binary visual words for dictionary (for loop closure detection).

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1677 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2014-09-09 21:54:32 +00:00
parent e687302ce0
commit c8593df7eb
10 changed files with 102 additions and 30 deletions
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corelib/src/VWDictionary.cpp
+2 -2
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@@ -286,11 +286,11 @@ void VWDictionary::update()
_flannIndex->build(_dataTree, cv::flann::LinearIndexParams(), type == CV_32F?cvflann::FLANN_DIST_L2:cvflann::FLANN_DIST_HAMMING);
break;
case kNNFlannKdTree:
UASSERT(type == CV_32F);
UASSERT_MSG(type == CV_32F, "To use KdTree dictionary, float descriptors are required!");
_flannIndex->build(_dataTree, cv::flann::KDTreeIndexParams(), cvflann::FLANN_DIST_L2);
break;
case kNNFlannLSH:
UASSERT(type == CV_8U);
UASSERT_MSG(type == CV_8U, "To use LSH dictionary, binary descriptors are required!");
_flannIndex->build(_dataTree, cv::flann::LshIndexParams(12, 20, 2), cvflann::FLANN_DIST_HAMMING);
break;
default: