Fix bug when using cuda-efficient-features with OpenMP (#640)

ymd-stella · web-flow · commit a6e5d04cf55d · 2025-03-29T14:34:38.000+09:00
diff --git a/src/stella_vslam/feature/orb_extractor.cc b/src/stella_vslam/feature/orb_extractor.cc
@@ -88,7 +88,7 @@ void orb_extractor::extract(const cv::_InputArray& in_image, const cv::_InputArr
         offsets.push_back(offset);
     }
 
-#ifdef USE_OPENMP
+#if defined(USE_OPENMP) and !defined(USE_CUDA_EFFICIENT_DESCRIPTORS)
 #pragma omp parallel for schedule(dynamic)
 #endif
     for (unsigned int level = 0; level < orb_params_->num_levels_; ++level) {

Original file line number	Diff line number	Diff line change
`@@ -88,7 +88,7 @@ void orb_extractor::extract(const cv::_InputArray& in_image, const cv::_InputArr`
`88`	`88`	`offsets.push_back(offset);`
`89`	`89`	`}`
`90`	`90`
`91`		`-#ifdef USE_OPENMP`
	`91`	`+#if defined(USE_OPENMP) and !defined(USE_CUDA_EFFICIENT_DESCRIPTORS)`
`92`	`92`	`#pragma omp parallel for schedule(dynamic)`
`93`	`93`	`#endif`
`94`	`94`	`for (unsigned int level = 0; level < orb_params_->num_levels_; ++level) {`