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Fixed bug ticket #416

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This commit is contained in:
Ilya Lysenkov 2010-07-02 06:58:17 +00:00
parent e9596deebb
commit 86ef7fab03
1 changed files with 13 additions and 7 deletions
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20
modules/features2d/src/descriptors.cpp
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@ -277,6 +277,7 @@ void BruteForceMatcher<L2<float> >::matchImpl( const Mat& descriptors_1, const M
{
matches.clear();
matches.reserve( descriptors_1.rows );
//TODO: remove _DEBUG if bag 416 fixed
#if (defined _DEBUG || !defined HAVE_EIGEN2)
Mat norms;
cv::reduce( descriptors_2.mul( descriptors_2 ), norms, 1, 0);
@ -292,20 +293,25 @@ void BruteForceMatcher<L2<float> >::matchImpl( const Mat& descriptors_1, const M
}
#else
Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic> desc1;
Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic> desc1t;
Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic> desc2;
cv2eigen( descriptors_1, desc1);
cv2eigen( descriptors_1.t(), desc1t);
cv2eigen( descriptors_2, desc2 );
Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic> norms = desc2.rowwise().squaredNorm().transpose();
//Eigen::Matrix<float, Eigen::Dynamic, 1> norms = desc2.rowwise().squaredNorm();
Eigen::Matrix<float, Eigen::Dynamic, 1> norms = desc2.rowwise().squaredNorm() / 2;
for( int i=0;i<descriptors_1.rows;i++ )
{
//TODO: it doesn't work in Debug due to assert in lazyAssign
Eigen::Matrix<float, Eigen::Dynamic, Eigen::Dynamic> distances = (-2)*desc1.row(i)*desc2.transpose();
//Eigen::Matrix<float, Eigen::Dynamic, 1> distances = (-2) * (desc2*desc1t.col(i));
Eigen::Matrix<float, Eigen::Dynamic, 1> distances = desc2*desc1t.col(i);
//distances += norms;
distances -= norms;
distances += norms;
int idx;
distances.minCoeff(&idx);
//distances.minCoeff(&idx);
distances.maxCoeff(&idx);
matches.push_back( idx );
}
#endif