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Commit 995b6963 authored by Bence Magyar's avatar Bence Magyar
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modules/surface_matching/include/opencv2/surface_matching/icp.hpp
View file @ 995b6963
...@@ -42,8 +42,8 @@ ...@@ -42,8 +42,8 @@
/** /**
* @file icp.hpp * @file icp.hpp
* *
* @brief Implementation of ICP (Iterative Closest Point) Algorithm * @brief Implementation of ICP (Iterative Closest Point) Algorithm
* @author Tolga Birdal * @author Tolga Birdal
*/ */
#ifndef __OPENCV_SURFACE_MATCHING_ICP_HPP__ #ifndef __OPENCV_SURFACE_MATCHING_ICP_HPP__
...@@ -66,93 +66,93 @@ namespace ppf_match_3d ...@@ -66,93 +66,93 @@ namespace ppf_match_3d
* You will find that my emphasis is on the performance, while retaining the accuracy. * You will find that my emphasis is on the performance, while retaining the accuracy.
* This implementation is based on Tolga Birdal's MATLAB implementation in here: * This implementation is based on Tolga Birdal's MATLAB implementation in here:
* http://www.mathworks.com/matlabcentral/fileexchange/47152-icp-registration-using-efficient-variants-and-multi-resolution-scheme * http://www.mathworks.com/matlabcentral/fileexchange/47152-icp-registration-using-efficient-variants-and-multi-resolution-scheme
The main contributions come from: * The main contributions come from:
1. Picky ICP: * 1. Picky ICP:
http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2003/Zinsser03-ARI.pdf * http://www5.informatik.uni-erlangen.de/Forschung/Publikationen/2003/Zinsser03-ARI.pdf
2. Efficient variants of the ICP Algorithm: * 2. Efficient variants of the ICP Algorithm:
http://docs.happycoders.org/orgadoc/graphics/imaging/fasticp_paper.pdf * http://docs.happycoders.org/orgadoc/graphics/imaging/fasticp_paper.pdf
3. Geometrically Stable Sampling for the ICP Algorithm: https://graphics.stanford.edu/papers/stabicp/stabicp.pdf * 3. Geometrically Stable Sampling for the ICP Algorithm: https://graphics.stanford.edu/papers/stabicp/stabicp.pdf
4. Multi-resolution registration: * 4. Multi-resolution registration:
http://www.cvl.iis.u-tokyo.ac.jp/~oishi/Papers/Alignment/Jost_MultiResolutionICP_3DIM03.pdf * http://www.cvl.iis.u-tokyo.ac.jp/~oishi/Papers/Alignment/Jost_MultiResolutionICP_3DIM03.pdf
5. Linearization of Point-to-Plane metric by Kok Lim Low: * 5. Linearization of Point-to-Plane metric by Kok Lim Low:
https://www.comp.nus.edu.sg/~lowkl/publications/lowk_point-to-plane_icp_techrep.pdf * https://www.comp.nus.edu.sg/~lowkl/publications/lowk_point-to-plane_icp_techrep.pdf
*/ */
class CV_EXPORTS ICP class CV_EXPORTS ICP
{ {
public: public:
enum ICP_SAMPLING_TYPE enum ICP_SAMPLING_TYPE
{ {
ICP_SAMPLING_TYPE_UNIFORM, ICP_SAMPLING_TYPE_UNIFORM,
ICP_SAMPLING_TYPE_GELFAND ICP_SAMPLING_TYPE_GELFAND
}; };
ICP() ICP()
{ {
m_tolerence = 0.005f; m_tolerence = 0.005f;
m_rejectionScale = 2.5f; m_rejectionScale = 2.5f;
m_maxItereations = 250; m_maxItereations = 250;
m_numLevels = 6; m_numLevels = 6;
m_sampleType = ICP_SAMPLING_TYPE_UNIFORM; m_sampleType = ICP_SAMPLING_TYPE_UNIFORM;
m_numNeighborsCorr = 1; m_numNeighborsCorr = 1;
} }
virtual ~ICP() { } virtual ~ICP() { }
/** /**
* \brief ICP constructor with default arguments. * \brief ICP constructor with default arguments.
* @param [in] tolerence Controls the accuracy of registration at each iteration of ICP. * @param [in] tolerence Controls the accuracy of registration at each iteration of ICP.
* @param [in] rejectionScale Robust outlier rejection is applied for robustness. This value actually corresponds to the standard deviation coefficient. Points with rejectionScale * \sigma are ignored during registration. * @param [in] rejectionScale Robust outlier rejection is applied for robustness. This value actually corresponds to the standard deviation coefficient. Points with rejectionScale * \sigma are ignored during registration.
* @param [in] numLevels Number of pyramid levels to proceed. Deep pyramids increase speed but decrease accuracy. Too coarse pyramids might have computational overhead on top of the inaccurate registrtaion. This parameter should be chosen to optimize a balance. Typical values range from 4 to 10. * @param [in] numLevels Number of pyramid levels to proceed. Deep pyramids increase speed but decrease accuracy. Too coarse pyramids might have computational overhead on top of the inaccurate registrtaion. This parameter should be chosen to optimize a balance. Typical values range from 4 to 10.
* @param [in] sampleType Currently this parameter is ignored and only uniform sampling is applied. Leave it as 0. * @param [in] sampleType Currently this parameter is ignored and only uniform sampling is applied. Leave it as 0.
* @param [in] numMaxCorr Currently this parameter is ignored and only PickyICP is applied. Leave it as 1. * @param [in] numMaxCorr Currently this parameter is ignored and only PickyICP is applied. Leave it as 1.
* \return * \return
* *
* \details Constructor * \details Constructor
*/ */
ICP(const int iterations, const float tolerence=0.05, const float rejectionScale=2.5, const int numLevels=6, const ICP_SAMPLING_TYPE sampleType = ICP_SAMPLING_TYPE_UNIFORM, const int numMaxCorr=1) ICP(const int iterations, const float tolerence=0.05, const float rejectionScale=2.5, const int numLevels=6, const ICP_SAMPLING_TYPE sampleType = ICP_SAMPLING_TYPE_UNIFORM, const int numMaxCorr=1)
{ {
m_tolerence = tolerence; m_tolerence = tolerence;
m_numNeighborsCorr = numMaxCorr; m_numNeighborsCorr = numMaxCorr;
m_rejectionScale = rejectionScale; m_rejectionScale = rejectionScale;
m_maxItereations = iterations; m_maxItereations = iterations;
m_numLevels = numLevels; m_numLevels = numLevels;
m_sampleType = sampleType; m_sampleType = sampleType;
}; }
/** /**
* \brief Perform registration * \brief Perform registration
* *
* @param [in] srcPC The input point cloud for the model. Expected to have the normals (Nx6). Currently, * @param [in] srcPC The input point cloud for the model. Expected to have the normals (Nx6). Currently,
* CV_32F is the only supported data type. * CV_32F is the only supported data type.
* @param [in] dstPC The input point cloud for the scene. It is assumed that the model is registered on the scene. Scene remains static. Expected to have the normals (Nx6). Currently, CV_32F is the only supported data type. * @param [in] dstPC The input point cloud for the scene. It is assumed that the model is registered on the scene. Scene remains static. Expected to have the normals (Nx6). Currently, CV_32F is the only supported data type.
* @param [out] residual The output registration error. * @param [out] residual The output registration error.
* \return On successful termination, the function returns 0. * \return On successful termination, the function returns 0.
* *
* \details It is assumed that the model is registered on the scene. Scene remains static, while the model transforms. The output poses transform the models onto the scene. Because of the point to plane minimization, the scene is expected to have the normals available. Expected to have the normals (Nx6). * \details It is assumed that the model is registered on the scene. Scene remains static, while the model transforms. The output poses transform the models onto the scene. Because of the point to plane minimization, the scene is expected to have the normals available. Expected to have the normals (Nx6).
*/ */
int registerModelToScene(const Mat& srcPC, const Mat& dstPC, double& residual, double pose[16]); int registerModelToScene(const Mat& srcPC, const Mat& dstPC, double& residual, double pose[16]);
/** /**
* \brief Perform registration with multiple initial poses * \brief Perform registration with multiple initial poses
* *
* @param [in] srcPC The input point cloud for the model. Expected to have the normals (Nx6). Currently, * @param [in] srcPC The input point cloud for the model. Expected to have the normals (Nx6). Currently,
* CV_32F is the only supported data type. * CV_32F is the only supported data type.
* @param [in] dstPC The input point cloud for the scene. Currently, CV_32F is the only supported data type. * @param [in] dstPC The input point cloud for the scene. Currently, CV_32F is the only supported data type.
* @param [out] poses List output of poses. For more detailed information check out Pose3D. * @param [out] poses List output of poses. For more detailed information check out Pose3D.
* \return On successful termination, the function returns 0. * \return On successful termination, the function returns 0.
* *
* \details It is assumed that the model is registered on the scene. Scene remains static, while the model transforms. The output poses transform the models onto the scene. Because of the point to plane minimization, the scene is expected to have the normals available. Expected to have the normals (Nx6). * \details It is assumed that the model is registered on the scene. Scene remains static, while the model transforms. The output poses transform the models onto the scene. Because of the point to plane minimization, the scene is expected to have the normals available. Expected to have the normals (Nx6).
*/ */
int registerModelToScene(const Mat& srcPC, const Mat& dstPC, std::vector<Pose3D*>& poses); int registerModelToScene(const Mat& srcPC, const Mat& dstPC, std::vector<Pose3D*>& poses);
private: private:
float m_tolerence; float m_tolerence;
int m_maxItereations; int m_maxItereations;
float m_rejectionScale; float m_rejectionScale;
int m_numNeighborsCorr; int m_numNeighborsCorr;
int m_numLevels; int m_numLevels;
int m_sampleType; int m_sampleType;
}; };
......
modules/surface_matching/include/opencv2/surface_matching/pose_3d.hpp
View file @ 995b6963
...@@ -57,68 +57,67 @@ namespace ppf_match_3d ...@@ -57,68 +57,67 @@ namespace ppf_match_3d
*/ */
class CV_EXPORTS Pose3D class CV_EXPORTS Pose3D
{ {
public: public:
Pose3D() Pose3D()
{ {
alpha=0; alpha=0;
modelIndex=0; modelIndex=0;
numVotes=0; numVotes=0;
residual = 0; residual = 0;
for (int i=0; i<16; i++) for (int i=0; i<16; i++)
Pose[i]=0; Pose[i]=0;
}; }
Pose3D(double Alpha, unsigned int ModelIndex=0, unsigned int NumVotes=0) Pose3D(double Alpha, unsigned int ModelIndex=0, unsigned int NumVotes=0)
{ {
alpha = Alpha; alpha = Alpha;
modelIndex = ModelIndex; modelIndex = ModelIndex;
numVotes = NumVotes; numVotes = NumVotes;
residual=0; residual=0;
for (int i=0; i<16; i++) for (int i=0; i<16; i++)
Pose[i]=0; Pose[i]=0;
}; }
/**
/** * \brief Updates the pose with the new one
* \brief Updates the pose with the new one * \param [in] NewPose New pose to overwrite
* \param [in] NewPose New pose to overwrite */
*/ void updatePose(double NewPose[16]);
void updatePose(double NewPose[16]);
/**
/** * \brief Updates the pose with the new one
* \brief Updates the pose with the new one * \param [in] NewPose New pose to overwrite
* \param [in] NewPose New pose to overwrite */
*/ void updatePose(double NewR[9], double NewT[3]);
void updatePose(double NewR[9], double NewT[3]);
/**
/** * \brief Updates the pose with the new one, but this time using quaternions to represent rotation
* \brief Updates the pose with the new one, but this time using quaternions to represent rotation * \param [in] NewPose New pose to overwrite
* \param [in] NewPose New pose to overwrite */
*/ void updatePoseQuat(double Q[4], double NewT[3]);
void updatePoseQuat(double Q[4], double NewT[3]);
/**
/** * \brief Left multiplies the existing pose in order to update the transformation
* \brief Left multiplies the existing pose in order to update the transformation * \param [in] IncrementalPose New pose to apply
* \param [in] IncrementalPose New pose to apply */
*/ void appendPose(double IncrementalPose[16]);
void appendPose(double IncrementalPose[16]); void printPose();
void printPose();
Pose3D* clone();
Pose3D* clone();
int writePose(FILE* f);
int writePose(FILE* f); int readPose(FILE* f);
int readPose(FILE* f); int writePose(const std::string& FileName);
int writePose(const std::string& FileName); int readPose(const std::string& FileName);
int readPose(const std::string& FileName);
virtual ~Pose3D() {}
virtual ~Pose3D() {};
double alpha, residual;
double alpha, residual; unsigned int modelIndex;
unsigned int modelIndex; unsigned int numVotes;
unsigned int numVotes; double Pose[16], angle, t[3], q[4];
double Pose[16], angle, t[3], q[4];
}; };
/** /**
...@@ -129,53 +128,48 @@ class CV_EXPORTS Pose3D ...@@ -129,53 +128,48 @@ class CV_EXPORTS Pose3D
*/ */
class CV_EXPORTS PoseCluster3D class CV_EXPORTS PoseCluster3D
{ {
public: public:
PoseCluster3D() PoseCluster3D()
{ {
//poseList.clear(); numVotes=0;
numVotes=0; id=0;
id=0; }
};
PoseCluster3D(Pose3D* newPose)
PoseCluster3D(Pose3D* newPose) {
{ poseList.clear();
//poseList.clear(); poseList.push_back(newPose);
poseList.push_back(newPose); numVotes=newPose->numVotes;
numVotes=newPose->numVotes; id=0;
id=0; }
};
PoseCluster3D(Pose3D* newPose, int newId)
PoseCluster3D(Pose3D* newPose, int newId) {
{ poseList.push_back(newPose);
//poseList.clear(); this->numVotes = newPose->numVotes;
poseList.push_back(newPose); this->id = newId;
this->numVotes = newPose->numVotes; }
this->id = newId;
}; virtual ~PoseCluster3D()
{}
virtual ~PoseCluster3D()
{ /**
numVotes=0; * \brief Adds a new pose to the cluster. The pose should be "close" to the mean poses
id=0; * in order to preserve the consistency
//poseList.clear(); * \param [in] newPose Pose to add to the cluster
}; */
void addPose(Pose3D* newPose);
/**
* \brief Adds a new pose to the cluster. The pose should be "close" to the mean poses int writePoseCluster(FILE* f);
* in order to preserve the consistency int readPoseCluster(FILE* f);
* \param [in] newPose Pose to add to the cluster int writePoseCluster(const std::string& FileName);
*/ int readPoseCluster(const std::string& FileName);
void addPose(Pose3D* newPose) ;
std::vector < Pose3D* > poseList;
int writePoseCluster(FILE* f); int numVotes;
int readPoseCluster(FILE* f); int id;
int writePoseCluster(const std::string& FileName);
int readPoseCluster(const std::string& FileName);
std::vector < Pose3D* > poseList;
int numVotes;
int id;
}; };
} // namespace ppf_match_3d } // namespace ppf_match_3d
} // namespace cv } // namespace cv
......
modules/surface_matching/include/opencv2/surface_matching/t_hash_int.hpp
View file @ 995b6963
...@@ -53,33 +53,33 @@ typedef unsigned int KeyType; ...@@ -53,33 +53,33 @@ typedef unsigned int KeyType;
typedef struct hashnode_i typedef struct hashnode_i
{ {
KeyType key; KeyType key;
void *data; void *data;
struct hashnode_i *next; struct hashnode_i *next;
} hashnode_i ; } hashnode_i ;
typedef struct HSHTBL_i typedef struct HSHTBL_i
{ {
size_t size; size_t size;
struct hashnode_i **nodes; struct hashnode_i **nodes;
size_t (*hashfunc)(unsigned int); size_t (*hashfunc)(unsigned int);
} hashtable_int; } hashtable_int;
inline static unsigned int next_power_of_two(unsigned int value) inline static unsigned int next_power_of_two(unsigned int value)
{ {
/* Round up to the next highest power of 2 */ /* Round up to the next highest power of 2 */
/* from http://www-graphics.stanford.edu/~seander/bithacks.html */ /* from http://www-graphics.stanford.edu/~seander/bithacks.html */
--value; --value;
value |= value >> 1; value |= value >> 1;
value |= value >> 2; value |= value >> 2;
value |= value >> 4; value |= value >> 4;
value |= value >> 8; value |= value >> 8;
value |= value >> 16; value |= value >> 16;
++value; ++value;
return value; return value;
} }
hashtable_int *hashtableCreate(size_t size, size_t (*hashfunc)(unsigned int)); hashtable_int *hashtableCreate(size_t size, size_t (*hashfunc)(unsigned int));
......
modules/surface_matching/samples/ppf_load_match.cpp
View file @ 995b6963
...@@ -47,24 +47,24 @@ using namespace std; ...@@ -47,24 +47,24 @@ using namespace std;
using namespace cv; using namespace cv;
using namespace ppf_match_3d; using namespace ppf_match_3d;
static void help(std::string errorMessage) static void help(const string& errorMessage)
{ {
std::cout<<"Program init error : "<<errorMessage<<std::endl; cout << "Program init error : "<< errorMessage << endl;
std::cout<<"\nUsage : ppf_matching [input model file] [input scene file]"<<std::endl; cout << "\nUsage : ppf_matching [input model file] [input scene file]"<< endl;
std::cout<<"\nPlease start again with new parameters"<<std::endl; cout << "\nPlease start again with new parameters"<< endl;
} }
int main(int argc, char** argv) int main(int argc, char** argv)
{ {
// welcome message // welcome message
std::cout<< "****************************************************"<<std::endl; cout << "****************************************************" << endl;
std::cout<< "* Surface Matching demonstration : demonstrates the use of surface matching" cout << "* Surface Matching demonstration : demonstrates the use of surface matching"
" using point pair features."<<std::endl; " using point pair features." << endl;
std::cout<< "* The sample loads a model and a scene, where the model lies in a different" cout << "* The sample loads a model and a scene, where the model lies in a different"
" pose than the training.\n* It then trains the model and searches for it in the" " pose than the training.\n* It then trains the model and searches for it in the"
" input scene. The detected poses are further refined by ICP\n* and printed to the " " input scene. The detected poses are further refined by ICP\n* and printed to the "
" standard output."<<std::endl; " standard output." << endl;
std::cout<< "****************************************************"<<std::endl; cout << "****************************************************" << endl;
if (argc < 3) if (argc < 3)
{ {
...@@ -73,15 +73,15 @@ int main(int argc, char** argv) ...@@ -73,15 +73,15 @@ int main(int argc, char** argv)
} }
#if (defined __x86_64__ || defined _M_X64) #if (defined __x86_64__ || defined _M_X64)
std::cout << "Running on 64 bits" << std::endl; cout << "Running on 64 bits" << endl;
#else #else
std::cout << "Running on 32 bits" << std::endl; cout << "Running on 32 bits" << endl;
#endif #endif
#ifdef _OPENMP #ifdef _OPENMP
std::cout << "Running with OpenMP" << std::endl; cout << "Running with OpenMP" << endl;
#else #else
std::cout << "Running without OpenMP and without TBB" << std::endl; cout << "Running without OpenMP and without TBB" << endl;
#endif #endif
string modelFileName = (string)argv[1]; string modelFileName = (string)argv[1];
......
modules/surface_matching/src/c_utils.hpp
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modules/surface_matching/src/hash_murmur64.hpp
View file @ 995b6963
...@@ -8,7 +8,7 @@ ...@@ -8,7 +8,7 @@
FORCE_INLINE unsigned int getblock ( const unsigned int * p, int i ) FORCE_INLINE unsigned int getblock ( const unsigned int * p, int i )
{ {
return p[i]; return p[i];
} }
//---------- //----------
...@@ -18,125 +18,125 @@ FORCE_INLINE unsigned int getblock ( const unsigned int * p, int i ) ...@@ -18,125 +18,125 @@ FORCE_INLINE unsigned int getblock ( const unsigned int * p, int i )
FORCE_INLINE unsigned int fmix32 ( unsigned int h ) FORCE_INLINE unsigned int fmix32 ( unsigned int h )
{ {
h ^= h >> 16; h ^= h >> 16;
h *= 0x85ebca6b; h *= 0x85ebca6b;
h ^= h >> 13; h ^= h >> 13;
h *= 0xc2b2ae35; h *= 0xc2b2ae35;
h ^= h >> 16; h ^= h >> 16;
return h; return h;
} }
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
FORCE_INLINE void bmix32 ( unsigned int & h1, unsigned int & k1, unsigned int & c1, unsigned int & c2 ) FORCE_INLINE void bmix32 ( unsigned int & h1, unsigned int & k1, unsigned int & c1, unsigned int & c2 )
{ {
k1 *= c1; k1 *= c1;
k1 = ROTL32(k1,11); k1 = ROTL32(k1,11);
k1 *= c2; k1 *= c2;
h1 ^= k1; h1 ^= k1;
h1 = h1*3+0x52dce729; h1 = h1*3+0x52dce729;
c1 = c1*5+0x7b7d159c; c1 = c1*5+0x7b7d159c;
c2 = c2*5+0x6bce6396; c2 = c2*5+0x6bce6396;
} }
//----------------------------------------------------------------------------- //-----------------------------------------------------------------------------
FORCE_INLINE void bmix32 ( unsigned int & h1, unsigned int & h2, unsigned int & k1, unsigned int & k2, unsigned int & c1, unsigned int & c2 ) FORCE_INLINE void bmix32 ( unsigned int & h1, unsigned int & h2, unsigned int & k1, unsigned int & k2, unsigned int & c1, unsigned int & c2 )
{ {
k1 *= c1; k1 *= c1;
k1 = ROTL32(k1,11); k1 = ROTL32(k1,11);
k1 *= c2; k1 *= c2;
h1 ^= k1; h1 ^= k1;
h1 += h2; h1 += h2;
h2 = ROTL32(h2,17); h2 = ROTL32(h2,17);
k2 *= c2; k2 *= c2;
k2 = ROTL32(k2,11); k2 = ROTL32(k2,11);
k2 *= c1; k2 *= c1;
h2 ^= k2; h2 ^= k2;
h2 += h1; h2 += h1;
h1 = h1*3+0x52dce729; h1 = h1*3+0x52dce729;
h2 = h2*3+0x38495ab5; h2 = h2*3+0x38495ab5;
c1 = c1*5+0x7b7d159c; c1 = c1*5+0x7b7d159c;
c2 = c2*5+0x6bce6396; c2 = c2*5+0x6bce6396;
} }
//---------- //----------
FORCE_INLINE void hashMurmurx64 ( const void * key, const int len, const unsigned int seed, void * out ) FORCE_INLINE void hashMurmurx64 ( const void * key, const int len, const unsigned int seed, void * out )
{ {
const unsigned char * data = (const unsigned char*)key; const unsigned char * data = (const unsigned char*)key;
const int nblocks = len / 8; const int nblocks = len / 8;
unsigned int h1 = 0x8de1c3ac ^ seed; unsigned int h1 = 0x8de1c3ac ^ seed;
unsigned int h2 = 0xbab98226 ^ seed; unsigned int h2 = 0xbab98226 ^ seed;
unsigned int c1 = 0x95543787; unsigned int c1 = 0x95543787;
unsigned int c2 = 0x2ad7eb25; unsigned int c2 = 0x2ad7eb25;
//---------- //----------
// body // body
const unsigned int * blocks = (const unsigned int *)(data + nblocks*8); const unsigned int * blocks = (const unsigned int *)(data + nblocks*8);
for (int i = -nblocks; i; i++) for (int i = -nblocks; i; i++)
{ {
unsigned int k1 = getblock(blocks,i*2+0); unsigned int k1 = getblock(blocks,i*2+0);
unsigned int k2 = getblock(blocks,i*2+1); unsigned int k2 = getblock(blocks,i*2+1);
bmix32(h1,h2,k1,k2,c1,c2); bmix32(h1,h2,k1,k2,c1,c2);
} }
//---------- //----------
// tail // tail
const unsigned char * tail = (const unsigned char*)(data + nblocks*8); const unsigned char * tail = (const unsigned char*)(data + nblocks*8);
unsigned int k1 = 0; unsigned int k1 = 0;
unsigned int k2 = 0; unsigned int k2 = 0;
switch (len & 7) switch (len & 7)
{ {
case 7: case 7:
k2 ^= tail[6] << 16; k2 ^= tail[6] << 16;
case 6: case 6:
k2 ^= tail[5] << 8; k2 ^= tail[5] << 8;
case 5: case 5:
k2 ^= tail[4] << 0; k2 ^= tail[4] << 0;
case 4: case 4:
k1 ^= tail[3] << 24; k1 ^= tail[3] << 24;
case 3: case 3:
k1 ^= tail[2] << 16; k1 ^= tail[2] << 16;
case 2: case 2:
k1 ^= tail[1] << 8; k1 ^= tail[1] << 8;
case 1: case 1:
k1 ^= tail[0] << 0; k1 ^= tail[0] << 0;
bmix32(h1,h2,k1,k2,c1,c2); bmix32(h1,h2,k1,k2,c1,c2);
}; };
//---------- //----------
// finalization // finalization
h2 ^= len; h2 ^= len;
h1 += h2; h1 += h2;
h2 += h1; h2 += h1;
h1 = fmix32(h1); h1 = fmix32(h1);
h2 = fmix32(h2); h2 = fmix32(h2);
h1 += h2; h1 += h2;
h2 += h1; h2 += h1;
((unsigned int*)out)[0] = h1; ((unsigned int*)out)[0] = h1;
((unsigned int*)out)[1] = h2; ((unsigned int*)out)[1] = h2;
} }
#endif #endif
\ No newline at end of file
modules/surface_matching/src/icp.cpp
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modules/surface_matching/src/pose_3d.cpp
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