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Add FlannIndex abstract interface and implement NanoFlannIndex subclass (#1744)

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* Add FlannIndex abstract interface and implement NanoFlannIndex subclass

* Refactored: made NanoFlann a new NN type instead of inheriting FlannIndex. Added tests. Vendoring nanoflann.h directly in the repo. RegistrationVis now use NANOFLANN_INDEX_KDTREE_SINGLE (instead of FLANN_INDEX_KDTREE_SINGLE) flann index for 2d points matching.

* cleanup comments, added FlannIndex doxygen

* Fixing windows tests

* updating flaky test

* Simplified interface, added flann kdtree single approach selectable by parameters.

* RegVis: symmetry of nanoflann for two branches of guess feature matching

* cv::BFMatcher baseline

* Small cmake optimization FLANN_KDTREE_MEM_OPT only defined for FlannIndex

* Refactored where FLANN_KDTREE_MEM_OPT is defined

* fixed file name already exist

* cleanup

* fixup build

---------

Co-authored-by: matlabbe <matlabbe@gmail.com>
This commit is contained in:
Muhammad
2026-08-16 19:51:39 +03:00
committed by GitHub
parent df52523a0c
commit f647014f54
28 changed files with 7537 additions and 179 deletions
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12
CMakeLists.txt
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@@ -63,10 +63,6 @@ ELSE()
option(FLANN_KDTREE_MEM_OPT "Disable multi-threaded FLANN kd-tree to minimize memory allocations" ON)
ENDIF()
IF(FLANN_KDTREE_MEM_OPT)
ADD_DEFINITIONS("-DFLANN_KDTREE_MEM_OPT")
ENDIF(FLANN_KDTREE_MEM_OPT)
IF(WIN32 AND NOT MINGW)
ADD_DEFINITIONS("-DNOMINMAX")
ADD_DEFINITIONS("-wd4100 -wd4127 -wd4150 -wd4191 -wd4242 -wd4244 -wd4251 -wd4305 -wd4365 -wd4512 -wd4514 -wd4548 -wd4571 -wd4619 -wd4625 -wd4626 -wd4628 -wd4668 -wd4710 -wd4711 -wd4738 -wd4820 -wd4946 -wd4986")
@@ -182,6 +178,13 @@ if(ANDROID OR IOS OR CMAKE_SYSTEM_NAME STREQUAL "iOS")
set(BUILD_TESTING OFF CACHE BOOL "Build the testing tree." FORCE)
endif()
# Performance tests are benchmarks: they report times, memory and recall
# instead of asserting on them, as those depend on the machine. They are built
# by default so they cannot rot, but are labelled "performance" so that a run
# opts in with `ctest -L performance` and CI opts out with `ctest -LE
# performance`. They can also be run directly, e.g. bin/test_flann_index_perf.
OPTION(BUILD_PERF_TESTS "Build the performance tests (see ctest -L performance)" ON)
include(CTest)
if(BUILD_TESTING)
# Add GTest using FetchContent
@@ -1565,6 +1568,7 @@ MESSAGE(STATUS " BUILD_APP = ${BUILD_APP}")
MESSAGE(STATUS " BUILD_TOOLS = ${BUILD_TOOLS}")
MESSAGE(STATUS " BUILD_EXAMPLES = ${BUILD_EXAMPLES}")
MESSAGE(STATUS " BUILD_TESTING = ${BUILD_TESTING}")
MESSAGE(STATUS " BUILD_PERF_TESTS = ${BUILD_PERF_TESTS}")
MESSAGE(STATUS " ENABLE_COVERAGE = ${ENABLE_COVERAGE}")
MESSAGE(STATUS " ENABLE_FORMAT_ERRORS = ${ENABLE_FORMAT_ERRORS}")
IF(NOT WIN32)