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Muhammadandmatlabbe
f647014f54
* 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 <[email protected]>
flann is included in rtabmap for convenience, to have this commit needed for incremental flann index: https://github.com/mariusmuja/flann/commit/23051820b2314f07cf40ba633a4067782a982ff3 Info: http://www.cs.ubc.ca/research/flann/ Source: https://github.com/mariusmuja/flann Commit: 9a01507d2231b29eb688246a6e442054defa7460 License: BSD