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Manage descriptor buffer more safely #60

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Jun 28, 2023
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Manage descriptor buffer more safely #60

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18 changes: 8 additions & 10 deletions src/SolARDescriptorMatcherKNNOpencv.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,26 +72,24 @@ FrameworkReturnCode SolARDescriptorMatcherKNNOpencv::match(SRef<DescriptorBuffer
//since it is an openCV implementation we need to convert back the descriptors from SolAR to Opencv
uint32_t type_conversion= SolAROpenCVHelper::deduceOpenDescriptorCVType(desc1->getDescriptorDataType());

cv::Mat cvDescriptor1(desc1->getNbDescriptors(), desc1->getNbElements(), type_conversion);
cvDescriptor1.data=(uchar*)desc1->data();

cv::Mat cvDescriptor2(desc2->getNbDescriptors(), desc2->getNbElements(), type_conversion);
cvDescriptor2.data=(uchar*)desc2->data();
cv::Mat cvDescriptor1(desc1->getNbDescriptors(), desc1->getNbElements(), type_conversion, (uchar*)desc1->data());
cv::Mat cvDescriptor2(desc2->getNbDescriptors(), desc2->getNbElements(), type_conversion, (uchar*)desc2->data());

cv::Mat cvDescriptor1Float, cvDescriptor2Float;
if (desc1->getDescriptorDataType() != DescriptorDataType::TYPE_32F)
cvDescriptor1.convertTo(cvDescriptor1, CV_32F);
cvDescriptor1.convertTo(cvDescriptor1Float, CV_32F);
if (desc2->getDescriptorDataType() != DescriptorDataType::TYPE_32F)
cvDescriptor2.convertTo(cvDescriptor2, CV_32F);
cvDescriptor2.convertTo(cvDescriptor2Float, CV_32F);

std::vector< std::vector<cv::DMatch> > nn_matches;

#ifdef WITHCUDA
cv::cuda::GpuMat cvDescriptor1Gpu, cvDescriptor2Gpu;
cvDescriptor1Gpu.upload(cvDescriptor1);
cvDescriptor2Gpu.upload(cvDescriptor2);
cvDescriptor1Gpu.upload(cvDescriptor1Float);
cvDescriptor2Gpu.upload(cvDescriptor2Float);
m_matcher->knnMatch(cvDescriptor1Gpu, cvDescriptor2Gpu, nn_matches, 2);
#else
m_matcher->knnMatch(cvDescriptor1, cvDescriptor2, nn_matches, 2);
m_matcher->knnMatch(cvDescriptor1Float, cvDescriptor2Float, nn_matches, 2);
#endif // WITHCUDA
std::map<uint32_t, std::map<uint32_t, float>> matches21;
for(unsigned i = 0; i < nn_matches.size(); i++) {
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