i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-09-02 09:30:25 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed build with OpenCV4+CUDA10 (#334)

Browse Source
This commit is contained in:
matlabbe
2019-01-28 19:28:24 -05:00
parent 76ef2c4b0e
commit f8b7421b59
3 changed files with 7 additions and 4 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
corelib/src/VWDictionary.cpp
View File

@@ -1082,17 +1082,19 @@ std::vector<int> VWDictionary::findNN(const cv::Mat & queryIn) const
#ifdef HAVE_OPENCV_CUDAFEATURES2D
cv::cuda::GpuMat newDescriptorsGpu(query);
cv::cuda::GpuMat lastDescriptorsGpu(_dataTree);
cv::cuda::GpuMat matchesGpu;
cv::Ptr<cv::cuda::DescriptorMatcher> gpuMatcher;
if(query.type()==CV_8U)
{
gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_HAMMING);
gpuMatcher->knnMatchAsync(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
gpuMatcher->knnMatchAsync(newDescriptorsGpu, lastDescriptorsGpu, matchesGpu, k);
}
else
{
gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_L2);
gpuMatcher->knnMatchAsync(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
gpuMatcher->knnMatchAsync(newDescriptorsGpu, lastDescriptorsGpu, matchesGpu, k);
}
gpuMatcher->knnMatchConvert(matchesGpu, matches);
#else
UERROR("Cannot use brute Force GPU because OpenCV is not built with cuda module.");
#endif

1
corelib/src/camera/CameraStereoTara.cpp
View File

@@ -34,6 +34,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap/utilite/UTimer.h>
#include <rtabmap/utilite/UThreadC.h>
#include <rtabmap/utilite/UConversion.h>
#include <opencv2/videoio/videoio_c.h>
namespace rtabmap