apoorva/greenhouse
2
1
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fixed build with OpenCV 3 CUDA (issue #3)

Browse Source
This commit is contained in:
Mathieu Labbé
2015-07-10 14:27:11 -04:00
parent dd14e5e1ca
commit 4b5da36512
7 changed files with 512 additions and 348 deletions
Download Patch File Download Diff File Expand all files Collapse all files
include/find_object/FindObject.h
+3 -4
View File
@@ -47,8 +47,7 @@ namespace find_object {
class ObjSignature;
class Vocabulary;
class KeypointDetector;
class DescriptorExtractor;
class Feature2D;
class FINDOBJECT_EXP FindObject : public QObject
{
@@ -104,8 +103,8 @@ private:
Vocabulary * vocabulary_;
QMap<int, cv::Mat> objectsDescriptors_;
QMap<int, int> dataRange_; // <last id of object's descriptor, id>
KeypointDetector * detector_;
DescriptorExtractor * extractor_;
Feature2D * detector_;
Feature2D * extractor_;
bool sessionModified_;
bool keepImagesInRAM_;
};
include/find_object/Settings.h
+26 -26
View File
@@ -38,9 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
namespace find_object {
class KeypointDetector;
class DescriptorExtractor;
class GPUFeature2D;
class Feature2D;
typedef QMap<QString, QVariant> ParametersMap; // Key, value
typedef QMap<QString, QString> ParametersType; // Key, type
@@ -107,7 +105,7 @@ class FINDOBJECT_EXP Settings
PARAMETER(Camera, 1deviceId, int, 0, "Device ID (default 0).");
PARAMETER(Camera, 2imageWidth, int, 0, "Image width (0 means default width from camera).");
PARAMETER(Camera, 3imageHeight, int, 0, "Image height (0 means default height from camera).");
PARAMETER(Camera, 4imageRate, double, 2.0, "Image rate in Hz (0 Hz means as fast as possible)."); // Hz
PARAMETER(Camera, 4imageRate, double, 10.0, "Image rate in Hz (0 Hz means as fast as possible)."); // Hz
PARAMETER(Camera, 5mediaPath, QString, "", "Video file or directory of images. If set, the camera is not used. See General->videoFormats and General->imageFormats for available formats.");
PARAMETER(Camera, 6useTcpCamera, bool, false, "Use TCP/IP input camera.");
PARAMETER(Camera, 8port, int, 0, "The images server's port when useTcpCamera is checked. Only one client at the same time is allowed.");
@@ -140,7 +138,8 @@ class FINDOBJECT_EXP Settings
PARAMETER(Feature2D, Fast_threshold, int, 10, "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.");
PARAMETER(Feature2D, Fast_nonmaxSuppression, bool, true, "If true, non-maximum suppression is applied to detected corners (keypoints).");
PARAMETER(Feature2D, Fast_gpu, bool, false, "GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
PARAMETER(Feature2D, Fast_keypointsRatio, double, 0.05, "Used with FAST GPU.");
PARAMETER(Feature2D, Fast_keypointsRatio, double, 0.05, "Used with FAST GPU (OpenCV 2).");
PARAMETER(Feature2D, Fast_maxNpoints, int, 5000, "Used with FAST GPU (OpenCV 3).");
PARAMETER(Feature2D, AGAST_threshold, int, 10, "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.");
PARAMETER(Feature2D, AGAST_nonmaxSuppression, bool, true, "If true, non-maximum suppression is applied to detected corners (keypoints).");
@@ -173,6 +172,7 @@ class FINDOBJECT_EXP Settings
PARAMETER(Feature2D, ORB_scoreType, int, 0, "The default HARRIS_SCORE=0 means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE=1 is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute.");
PARAMETER(Feature2D, ORB_patchSize, int, 31, "size of the patch used by the oriented BRIEF descriptor. Of course, on smaller pyramid layers the perceived image area covered by a feature will be larger.");
PARAMETER(Feature2D, ORB_gpu, bool, false, "GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
PARAMETER(Feature2D, ORB_blurForDescriptor, bool, false, "GPU-ORB: blurForDescriptor parameter (OpenCV 3).");
PARAMETER(Feature2D, MSER_delta, int, 5, "");
PARAMETER(Feature2D, MSER_minArea, int, 60, "");
@@ -318,8 +318,8 @@ public:
static void resetParameter(const QString & key) {if(defaultParameters_.contains(key)) parameters_.insert(key, defaultParameters_.value(key));}
static QVariant getParameter(const QString & key) {return parameters_.value(key, QVariant());}
static KeypointDetector * createKeypointDetector();
static DescriptorExtractor * createDescriptorExtractor();
static Feature2D * createKeypointDetector();
static Feature2D * createDescriptorExtractor();
static QString currentDescriptorType();
static QString currentDetectorType();
@@ -344,36 +344,36 @@ private:
static QString iniPath_;
};
class KeypointDetector
class Feature2D
{
public:
KeypointDetector(cv::Ptr<cv::FeatureDetector> & featureDetector);
KeypointDetector(GPUFeature2D * gpuFeature2D);
virtual ~KeypointDetector();
#if CV_MAJOR_VERSION < 3
Feature2D(cv::Ptr<cv::FeatureDetector> featureDetector);
Feature2D(cv::Ptr<cv::DescriptorExtractor> descriptorExtractor);
#endif
Feature2D(cv::Ptr<cv::Feature2D> feature2D);
Feature2D() {}
virtual ~Feature2D() {}
void detect(const cv::Mat & image,
virtual void detect(const cv::Mat & image,
std::vector<cv::KeyPoint> & keypoints,
const cv::Mat & mask = cv::Mat());
private:
cv::Ptr<cv::FeatureDetector> featureDetector_;
GPUFeature2D * gpuFeature2D_;
};
class DescriptorExtractor
{
public:
DescriptorExtractor(cv::Ptr<cv::DescriptorExtractor> & descriptorExtractor);
DescriptorExtractor(GPUFeature2D * gpuFeature2D);
virtual ~DescriptorExtractor();
void compute(const cv::Mat & image,
virtual void compute(const cv::Mat & image,
std::vector<cv::KeyPoint> & keypoints,
cv::Mat & descriptors);
virtual void detectAndCompute(const cv::Mat & image,
std::vector<cv::KeyPoint> & keypoints,
cv::Mat & descriptors,
const cv::Mat & mask = cv::Mat());
private:
#if CV_MAJOR_VERSION < 3
cv::Ptr<cv::FeatureDetector> featureDetector_;
cv::Ptr<cv::DescriptorExtractor> descriptorExtractor_;
GPUFeature2D * gpuFeature2D_;
#endif
cv::Ptr<cv::Feature2D> feature2D_;
};
} // namespace find_object