Tegra-optimized features matching for Stitching

modules/stitching/src/matchers.cpp

@@ -147,11 +147,16 @@ private:
 
 void CpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info)
 {
-    matches_info.matches.clear();
-
     CV_Assert(features1.descriptors.type() == features2.descriptors.type());
     CV_Assert(features2.descriptors.depth() == CV_8U || features2.descriptors.depth() == CV_32F);
 
+#ifdef HAVE_TEGRA_OPTIMIZATION
+    if (tegra::match2nearest(features1, features2, matches_info, match_conf_))
+        return;
+#endif
+
+    matches_info.matches.clear();
+
     Ptr<flann::IndexParams> indexParams = new flann::KDTreeIndexParams();
     Ptr<flann::SearchParams> searchParams = new flann::SearchParams();
 

modules/stitching/src/precomp.hpp

@@ -54,6 +54,8 @@
 #include <functional>
 #include <sstream>
 #include <cmath>
+#include "opencv2/core/core.hpp"
+#include "opencv2/core/internal.hpp"
 #include "opencv2/stitching/stitcher.hpp"
 #include "opencv2/stitching/detail/autocalib.hpp"
 #include "opencv2/stitching/detail/blenders.hpp"
@@ -64,14 +66,17 @@
 #include "opencv2/stitching/detail/seam_finders.hpp"
 #include "opencv2/stitching/detail/util.hpp"
 #include "opencv2/stitching/detail/warpers.hpp"
-#include "opencv2/core/core.hpp"
-#include "opencv2/core/internal.hpp"
 #include "opencv2/imgproc/imgproc.hpp"
 #include "opencv2/features2d/features2d.hpp"
 #include "opencv2/calib3d/calib3d.hpp"
 #ifndef ANDROID
 # include "opencv2/gpu/gpu.hpp"
 #endif
-#include "gcgraph.hpp"
+
+#include "modules/imgproc/src/gcgraph.hpp"
+
+#ifdef HAVE_TEGRA_OPTIMIZATION
+# include "opencv2/stitching/stitching_tegra.hpp"
+#endif
 
 #endif