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Fixed number of neighbors not being passed to the flannquery in computeNormalsPC3d

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This commit is contained in:
felix
2015-06-13 13:54:29 -04:00
parent 11f538856e
commit f8757c3fd4
2 changed files with 9 additions and 3 deletions
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1
modules/surface_matching/include/opencv2/surface_matching/ppf_helpers.hpp
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@@ -93,6 +93,7 @@ void computeBboxStd(Mat pc, float xRange[2], float yRange[2], float zRange[2]);
void* indexPCFlann(Mat pc);
void destroyFlann(void* flannIndex);
void queryPCFlann(void* flannIndex, Mat& pc, Mat& indices, Mat& distances);
void queryPCFlann(void* flannIndex, Mat& pc, Mat& indices, Mat& distances, const int numNeighbors);
/**
* Mostly for visualization purposes. Normalizes the point cloud in a Hartley-Zissermann

9
modules/surface_matching/src/ppf_helpers.cpp
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@@ -207,10 +207,15 @@ void destroyFlann(void* flannIndex)
// For speed purposes this function assumes that PC, Indices and Distances are created with continuous structures
void queryPCFlann(void* flannIndex, Mat& pc, Mat& indices, Mat& distances)
{
queryPCFlann(flannIndex, pc, indices, distances, 1);
}
void queryPCFlann(void* flannIndex, Mat& pc, Mat& indices, Mat& distances, const int numNeighbors)
{
Mat obj_32f;
pc.colRange(0, 3).copyTo(obj_32f);
((FlannIndex*)flannIndex)->knnSearch(obj_32f, indices, distances, 1, cvflann::SearchParams(32) );
((FlannIndex*)flannIndex)->knnSearch(obj_32f, indices, distances, numNeighbors, cvflann::SearchParams(32));
}
// uses a volume instead of an octree
@@ -688,7 +693,7 @@ CV_EXPORTS int computeNormalsPC3d(const Mat& PC, Mat& PCNormals, const int NumNe
Mat Indices(2, sizesResult, CV_32S, indices, 0);
Mat Distances(2, sizesResult, CV_32F, distances, 0);
queryPCFlann(flannIndex, PCInput, Indices, Distances);
queryPCFlann(flannIndex, PCInput, Indices, Distances, NumNeighbors);
destroyFlann(flannIndex);
flannIndex = 0;