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Added OpenCV 3 support

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This commit is contained in:
matlabbe
2015-06-18 23:00:46 -04:00
parent aa4005b266
commit 6fe1e42181
17 changed files with 450 additions and 253 deletions
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corelib/src/VWDictionary.cpp
+58
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@@ -34,7 +34,15 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "rtabmap/utilite/UtiLite.h"
#include <opencv2/opencv_modules.hpp>
#if CV_MAJOR_VERSION < 3
#include <opencv2/gpu/gpu.hpp>
#else
#include <opencv2/core/cuda.hpp>
#ifdef HAVE_OPENCV_CUDAFEATURES2D
#include <opencv2/cudafeatures2d.hpp>
#endif
#endif
#include <fstream>
#include <string>
@@ -220,11 +228,26 @@ void VWDictionary::setNNStrategy(NNStrategy strategy)
{
if(strategy!=kNNUndef)
{
#if CV_MAJOR_VERSION < 3
if(strategy == kNNBruteForceGPU && !cv::gpu::getCudaEnabledDeviceCount())
{
UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but no CUDA devices found! Doing \"kNNBruteForce\" instead.");
strategy = kNNBruteForce;
}
#else
if(strategy == kNNBruteForceGPU && !cv::cuda::getCudaEnabledDeviceCount())
{
UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but no CUDA devices found! Doing \"kNNBruteForce\" instead.");
strategy = kNNBruteForce;
}
#endif
#ifndef HAVE_OPENCV_CUDAFEATURES2D
if(strategy == kNNBruteForceGPU)
{
UERROR("Nearest neighobr strategy \"kNNBruteForceGPU\" chosen but OpenCV cudafeatures2d module is not found! Doing \"kNNBruteForce\" instead.");
strategy = kNNBruteForce;
}
#endif
if(RTABMAP_NONFREE == 0 && strategy == kNNFlannKdTree)
{
@@ -466,6 +489,7 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
else if(_strategy == kNNBruteForceGPU)
{
bruteForce = true;
#if CV_MAJOR_VERSION < 3
cv::gpu::GpuMat newDescriptorsGpu(descriptors);
cv::gpu::GpuMat lastDescriptorsGpu(_dataTree);
if(type==CV_8U)
@@ -478,6 +502,22 @@ std::list<int> VWDictionary::addNewWords(const cv::Mat & descriptors,
cv::gpu::BruteForceMatcher_GPU<cv::L2<float> > gpuMatcher;
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
cv::cuda::GpuMat newDescriptorsGpu(descriptors);
cv::cuda::GpuMat lastDescriptorsGpu(_dataTree);
if(type==CV_8U)
{
cv::cuda::BruteForceMatcher_GPU<cv::Hamming> gpuMatcher;
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
else
{
cv::cuda::BruteForceMatcher_GPU<cv::L2<float> > gpuMatcher;
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
#endif
#endif
}
else
{
@@ -681,6 +721,7 @@ std::vector<int> VWDictionary::findNN(const std::list<VisualWord *> & vws) const
else if(_strategy == kNNBruteForceGPU)
{
bruteForce = true;
#if CV_MAJOR_VERSION < 3
cv::gpu::GpuMat newDescriptorsGpu(query);
cv::gpu::GpuMat lastDescriptorsGpu(_dataTree);
if(type==CV_8U)
@@ -693,6 +734,23 @@ std::vector<int> VWDictionary::findNN(const std::list<VisualWord *> & vws) const
cv::gpu::BruteForceMatcher_GPU<cv::L2<float> > gpuMatcher;
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
cv::cuda::GpuMat newDescriptorsGpu(query);
cv::cuda::GpuMat lastDescriptorsGpu(_dataTree);
cv::Ptr<cv::cuda::DescriptorMatcher> gpuMatcher;
if(type==CV_8U)
{
gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_HAMMING);
gpuMatcher->knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
else
{
gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_L2);
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
#endif
#endif
}
else
{