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Included FLANN headers in rtabmap for convenience (to have commit https://github.com/mariusmuja/flann/commit/23051820b2314f07cf40ba633a4067782a982ff3)

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This commit is contained in:
matlabbe
2015-09-11 23:23:01 -04:00
parent 5cc17704d3
commit cf0d781020
63 changed files with 22769 additions and 149 deletions
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corelib/src/VWDictionary.cpp
+2 -90
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@@ -45,7 +45,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#endif
#endif
#include <flann/flann.hpp>
#include "flann/flann.hpp"
#include <fstream>
#include <string>
@@ -75,20 +75,7 @@ public:
{
if(featuresType_ == CV_8UC1)
{
#ifdef WITH_FLANN18
delete (flann::Index<flann::Hamming<unsigned char> >*)index_;
#else
// issue with 1.7.1: we should explicitly use the corresponding index
if(isLSH_)
{
delete (flann::LshIndex<flann::Hamming<unsigned char> >*)index_;
}
else
{
delete (flann::LinearIndex<flann::Hamming<unsigned char> >*)index_;
}
#endif
delete (flann::Index<flann::Hamming<unsigned char> >*)index_;
}
else
{
@@ -108,19 +95,7 @@ public:
}
if(featuresType_ == CV_8UC1)
{
#ifdef WITH_FLANN18
return ((const flann::Index<flann::Hamming<unsigned char> >*)index_)->size();
#else
// issue with 1.7.1: we should explicitly use the corresponding index
if(isLSH_)
{
return ((const flann::LshIndex<flann::Hamming<unsigned char> >*)index_)->size();
}
else
{
return ((const flann::LinearIndex<flann::Hamming<unsigned char> >*)index_)->size();
}
#endif
}
else
{
@@ -137,19 +112,7 @@ public:
}
if(featuresType_ == CV_8UC1)
{
#ifdef WITH_FLANN18
return ((const flann::Index<flann::Hamming<unsigned char> >*)index_)->usedMemory()/1000;
#else
// issue with 1.7.1: we should explicitly use the corresponding index
if(isLSH_)
{
return ((const flann::LshIndex<flann::Hamming<unsigned char> >*)index_)->usedMemory()/1000;
}
else
{
return ((const flann::LinearIndex<flann::Hamming<unsigned char> >*)index_)->usedMemory()/1000;
}
#endif
}
else
{
@@ -170,21 +133,7 @@ public:
if(featuresType_ == CV_8UC1)
{
flann::Matrix<unsigned char> dataset(features.data, features.rows, features.cols);
#ifdef WITH_FLANN18
index_ = new flann::Index<flann::Hamming<unsigned char> >(dataset, params);
#else
// issue with 1.7.1: we should explicitly create the corresponding index
flann::flann_algorithm_t algo = params.at("algorithm").cast<flann::flann_algorithm_t>();
if(algo == flann::FLANN_INDEX_LSH)
{
isLSH_ = true;
index_ = new flann::LshIndex<flann::Hamming<unsigned char> >(dataset, params);
}
else
{
index_ = new flann::LinearIndex<flann::Hamming<unsigned char> >(dataset, params);
}
#endif
((flann::Index<flann::Hamming<unsigned char> >*)index_)->buildIndex();
}
else
@@ -196,15 +145,6 @@ public:
nextIndex_ = features.rows;
}
bool isIncremental()
{
#ifdef WITH_FLANN18
return true;
#else
return false;
#endif
}
bool isBuilt()
{
return index_!=0;
@@ -215,7 +155,6 @@ public:
unsigned int addPoint(const cv::Mat & feature)
{
#ifdef WITH_FLANN18
if(!index_)
{
UERROR("Flann index not yet created!");
@@ -235,15 +174,10 @@ public:
((flann::Index<flann::L2<float> >*)index_)->addPoints(dataset);
}
return nextIndex_++;
#else
UFATAL("Not built with FLANN 1.8! Only when isIncremental() returns true that you can call this method.");
return 0;
#endif
}
void removePoint(unsigned int index)
{
#ifdef WITH_FLANN18
if(!index_)
{
UERROR("Flann index not yet created!");
@@ -263,9 +197,6 @@ public:
{
((flann::Index<flann::L2<float> >*)index_)->removePoint(index);
}
#else
UFATAL("Not built with FLANN 1.8! Only when isIncremental() returns true that you can call this method.");
#endif
}
void knnSearch(
@@ -289,19 +220,7 @@ public:
{
flann::Matrix<unsigned int> distsF((unsigned int*)dists.data, dists.rows, dists.cols);
flann::Matrix<unsigned char> queryF(query.data, query.rows, query.cols);
#ifdef WITH_FLANN18
((flann::Index<flann::Hamming<unsigned char> >*)index_)->knnSearch(queryF, indicesF, distsF, knn, params);
#else
// issue with 1.7.1: we should explicitly use the corresponding index
if(isLSH_)
{
((flann::LshIndex<flann::Hamming<unsigned char> >*)index_)->knnSearch(queryF, indicesF, distsF, knn, params);
}
else
{
((flann::LinearIndex<flann::Hamming<unsigned char> >*)index_)->knnSearch(queryF, indicesF, distsF, knn, params);
}
#endif
}
else
{
@@ -350,12 +269,6 @@ void VWDictionary::parseParameters(const ParametersMap & parameters)
Parameters::parse(parameters, Parameters::kKpNewWordsComparedTogether(), _newWordsComparedTogether);
Parameters::parse(parameters, Parameters::kKpIncrementalFlann(), _incrementalFlann);
if(_incrementalFlann && !_flannIndex->isIncremental())
{
UERROR("TRying to set \"KpIncrementalFlann\"=true but RTAB-Map is not built with FLANN>=1.8. Setting to false.");
_incrementalFlann = false;
}
UASSERT_MSG(_nndrRatio > 0.0f, uFormat("String=%s value=%f", uContains(parameters, Parameters::kKpNndrRatio())?parameters.at(Parameters::kKpNndrRatio()).c_str():"", _nndrRatio).c_str());
std::string dictionaryPath = _dictionaryPath;
@@ -583,7 +496,6 @@ void VWDictionary::update()
if(_notIndexedWords.size() || _visualWords.size() == 0 || _removedIndexedWords.size())
{
if(_incrementalFlann &&
_flannIndex->isIncremental() &&
_strategy < kNNBruteForce &&
_visualWords.size())
{