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Added BruteForce nearest neighbor (with GPU option), which is now the default for binary descriptors

Browse Source 
CMake: Detecting if openCV is built with nonfree module, if yes, SIFT and SURF can be used

git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@411 620bd6b2-0a58-f614-fd9a-1bd335dccda9
This commit is contained in:
matlabbe
2014-10-24 02:46:03 +00:00
parent 783173bf43
commit 4d3b9e88b2
6 changed files with 345 additions and 267 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/MainWindow.cpp
+6 -2
View File
@@ -135,14 +135,18 @@ MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * paren
if(cv::gpu::getCudaEnabledDeviceCount() == 0)
{
#ifdef WITH_NONFREE
ui_->toolBox->updateParameter(Settings::kFeature2D_SURF_gpu());
ui_->toolBox->updateParameter(Settings::kFeature2D_Fast_gpu());
ui_->toolBox->updateParameter(Settings::kFeature2D_ORB_gpu());
ui_->toolBox->getParameterWidget(Settings::kFeature2D_SURF_gpu())->setEnabled(false);
ui_->toolBox->getParameterWidget(Settings::kFeature2D_SURF_keypointsRatio())->setEnabled(false);
#endif
ui_->toolBox->updateParameter(Settings::kFeature2D_Fast_gpu());
ui_->toolBox->updateParameter(Settings::kFeature2D_ORB_gpu());
ui_->toolBox->updateParameter(Settings::kNearestNeighbor_BruteForce_gpu());
ui_->toolBox->getParameterWidget(Settings::kFeature2D_Fast_gpu())->setEnabled(false);
ui_->toolBox->getParameterWidget(Settings::kFeature2D_Fast_keypointsRatio())->setEnabled(false);
ui_->toolBox->getParameterWidget(Settings::kFeature2D_ORB_gpu())->setEnabled(false);
ui_->toolBox->getParameterWidget(Settings::kNearestNeighbor_BruteForce_gpu())->setEnabled(false);
}
connect((QDoubleSpinBox*)ui_->toolBox->getParameterWidget(Settings::kCamera_4imageRate()),
src/ParametersToolBox.cpp
+14 -4
View File
@@ -204,6 +204,16 @@ void ParametersToolBox::updateParametersVisibility()
else if(!objects[i]->objectName().split('/').at(1).at(0).isDigit())
{
((QWidget*)objects[i])->setVisible(false);
if(nnBox->currentIndex() < 6 && objects[i]->objectName().split('/').at(1).contains("search"))
{
//show flann search parameters
((QWidget*)objects[i])->setVisible(true);
}
}
else if(objects[i]->objectName().split('/').at(1).contains("Distance_type"))
{
// don't show distance when bruteforce is selected
((QWidget*)objects[i])->setVisible(nnBox->currentIndex() != 6);
}
}
}
@@ -494,16 +504,16 @@ void ParametersToolBox::changeParameter(const int & value)
descriptorBox->currentText().compare("Brief") == 0 ||
descriptorBox->currentText().compare("BRISK") == 0 ||
descriptorBox->currentText().compare("FREAK") == 0;
if(isBinaryDescriptor && nnBox->currentText().compare("Lsh") != 0)
if(isBinaryDescriptor && nnBox->currentText().compare("Lsh") != 0 && nnBox->currentText().compare("BruteForce") != 0)
{
QMessageBox::warning(this,
tr("Warning"),
tr("Current selected descriptor type (\"%1\") is binary while nearest neighbor strategy is not (\"%2\").\n"
"Falling back to \"Lsh\" nearest neighbor strategy with Hamming distance (by default).")
"Falling back to \"BruteForce\" nearest neighbor strategy with Hamming distance (by default).")
.arg(descriptorBox->currentText())
.arg(nnBox->currentText()));
QString tmp = Settings::getNearestNeighbor_1Strategy();
*tmp.begin() = '5'; // set LSH
*tmp.begin() = '6'; // set BruteForce
Settings::setNearestNeighbor_1Strategy(tmp);
tmp = Settings::getNearestNeighbor_2Distance_type();
*tmp.begin() = '8'; // set HAMMING
@@ -561,7 +571,7 @@ void ParametersToolBox::changeParameter(const int & value)
{
QComboBox * nnBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_1Strategy());
QComboBox * distBox = (QComboBox*)this->getParameterWidget(Settings::kNearestNeighbor_2Distance_type());
if(nnBox->currentText().compare("Lsh") != 0 && distBox->currentIndex() > 1)
if(nnBox->currentText().compare("BruteForce") != 0 && nnBox->currentText().compare("Lsh") != 0 && distBox->currentIndex() > 1)
{
QMessageBox::warning(this,
tr("Warning"),
src/Settings.cpp
+248 -248
View File
@@ -33,9 +33,11 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QStringList>
#include <QtCore/QDir>
#include <stdio.h>
#include <opencv2/nonfree/features2d.hpp>
#include <opencv2/calib3d/calib3d.hpp>
#ifdef WITH_NONFREE
#include <opencv2/nonfree/features2d.hpp>
#include <opencv2/nonfree/gpu.hpp>
#endif
#include <opencv2/gpu/gpu.hpp>
namespace find_object {
@@ -120,9 +122,12 @@ void Settings::loadSettings(const QString & fileName)
if(cv::gpu::getCudaEnabledDeviceCount() == 0)
{
#ifdef WITH_NONFREE
Settings::setFeature2D_SURF_gpu(false);
#endif
Settings::setFeature2D_Fast_gpu(false);
Settings::setFeature2D_ORB_gpu(false);
Settings::setNearestNeighbor_BruteForce_gpu(false);
}
}
@@ -217,6 +222,7 @@ public:
cv::Mat & descriptors) = 0;
};
#ifdef WITH_NONFREE
class GPUSURF : public GPUFeature2D
{
public:
@@ -291,6 +297,7 @@ public:
private:
cv::gpu::SURF_GPU surf_; // HACK: static because detectImpl() is const!
};
#endif
class GPUFAST : public GPUFeature2D
{
@@ -416,168 +423,151 @@ KeypointDetector * Settings::createKeypointDetector()
if(ok)
{
QStringList strategies = split.last().split(';');
#ifdef WITH_NONFREE
if(strategies.size() == 9 && index>=0 && index<9)
#else
if(strategies.size() == 7 && index>=0 && index<7)
#endif
{
switch(index)
if(strategies.at(index).compare("Dense") == 0)
{
case 0:
if(strategies.at(index).compare("Dense") == 0)
detector = new cv::DenseFeatureDetector(
getFeature2D_Dense_initFeatureScale(),
getFeature2D_Dense_featureScaleLevels(),
getFeature2D_Dense_featureScaleMul(),
getFeature2D_Dense_initXyStep(),
getFeature2D_Dense_initImgBound(),
getFeature2D_Dense_varyXyStepWithScale(),
getFeature2D_Dense_varyImgBoundWithScale());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("Fast") == 0)
{
if(getFeature2D_Fast_gpu() && cv::gpu::getCudaEnabledDeviceCount())
{
detector = new cv::DenseFeatureDetector(
getFeature2D_Dense_initFeatureScale(),
getFeature2D_Dense_featureScaleLevels(),
getFeature2D_Dense_featureScaleMul(),
getFeature2D_Dense_initXyStep(),
getFeature2D_Dense_initImgBound(),
getFeature2D_Dense_varyXyStepWithScale(),
getFeature2D_Dense_varyImgBoundWithScale());
detectorGPU = new GPUFAST(
getFeature2D_Fast_threshold(),
getFeature2D_Fast_nonmaxSuppression());
UDEBUG("type=%s GPU", strategies.at(index).toStdString().c_str());
}
else
{
detector = new cv::FastFeatureDetector(
getFeature2D_Fast_threshold(),
getFeature2D_Fast_nonmaxSuppression());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
break;
case 1:
if(strategies.at(index).compare("Fast") == 0)
}
else if(strategies.at(index).compare("GFTT") == 0)
{
detector = new cv::GFTTDetector(
getFeature2D_GFTT_maxCorners(),
getFeature2D_GFTT_qualityLevel(),
getFeature2D_GFTT_minDistance(),
getFeature2D_GFTT_blockSize(),
getFeature2D_GFTT_useHarrisDetector(),
getFeature2D_GFTT_k());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("MSER") == 0)
{
detector = new cv::MSER(
getFeature2D_MSER_delta(),
getFeature2D_MSER_minArea(),
getFeature2D_MSER_maxArea(),
getFeature2D_MSER_maxVariation(),
getFeature2D_MSER_minDiversity(),
getFeature2D_MSER_maxEvolution(),
getFeature2D_MSER_areaThreshold(),
getFeature2D_MSER_minMargin(),
getFeature2D_MSER_edgeBlurSize());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("ORB") == 0)
{
if(getFeature2D_ORB_gpu() && cv::gpu::getCudaEnabledDeviceCount())
{
if(getFeature2D_Fast_gpu() && cv::gpu::getCudaEnabledDeviceCount())
{
detectorGPU = new GPUFAST(
getFeature2D_Fast_threshold(),
getFeature2D_Fast_nonmaxSuppression());
UDEBUG("type=%s GPU", strategies.at(index).toStdString().c_str());
}
else
{
detector = new cv::FastFeatureDetector(
getFeature2D_Fast_threshold(),
getFeature2D_Fast_nonmaxSuppression());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
detectorGPU = new GPUORB(
getFeature2D_ORB_nFeatures(),
getFeature2D_ORB_scaleFactor(),
getFeature2D_ORB_nLevels(),
getFeature2D_ORB_edgeThreshold(),
getFeature2D_ORB_firstLevel(),
getFeature2D_ORB_WTA_K(),
getFeature2D_ORB_scoreType(),
getFeature2D_ORB_patchSize(),
getFeature2D_Fast_threshold(),
getFeature2D_Fast_nonmaxSuppression());
UDEBUG("type=%s (GPU)", strategies.at(index).toStdString().c_str());
}
break;
case 2:
if(strategies.at(index).compare("GFTT") == 0)
else
{
detector = new cv::GFTTDetector(
getFeature2D_GFTT_maxCorners(),
getFeature2D_GFTT_qualityLevel(),
getFeature2D_GFTT_minDistance(),
getFeature2D_GFTT_blockSize(),
getFeature2D_GFTT_useHarrisDetector(),
getFeature2D_GFTT_k());
detector = new cv::ORB(
getFeature2D_ORB_nFeatures(),
getFeature2D_ORB_scaleFactor(),
getFeature2D_ORB_nLevels(),
getFeature2D_ORB_edgeThreshold(),
getFeature2D_ORB_firstLevel(),
getFeature2D_ORB_WTA_K(),
getFeature2D_ORB_scoreType(),
getFeature2D_ORB_patchSize());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
break;
case 3:
if(strategies.at(index).compare("MSER") == 0)
}
else if(strategies.at(index).compare("Star") == 0)
{
detector = new cv::StarFeatureDetector(
getFeature2D_Star_maxSize(),
getFeature2D_Star_responseThreshold(),
getFeature2D_Star_lineThresholdProjected(),
getFeature2D_Star_lineThresholdBinarized(),
getFeature2D_Star_suppressNonmaxSize());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("BRISK") == 0)
{
detector = new cv::BRISK(
getFeature2D_BRISK_thresh(),
getFeature2D_BRISK_octaves(),
getFeature2D_BRISK_patternScale());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
#ifdef WITH_NONFREE
else if(strategies.at(index).compare("SIFT") == 0)
{
detector = new cv::SIFT(
getFeature2D_SIFT_nfeatures(),
getFeature2D_SIFT_nOctaveLayers(),
getFeature2D_SIFT_contrastThreshold(),
getFeature2D_SIFT_edgeThreshold(),
getFeature2D_SIFT_sigma());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("SURF") == 0)
{
if(getFeature2D_SURF_gpu() && cv::gpu::getCudaEnabledDeviceCount())
{
detector = new cv::MSER(
getFeature2D_MSER_delta(),
getFeature2D_MSER_minArea(),
getFeature2D_MSER_maxArea(),
getFeature2D_MSER_maxVariation(),
getFeature2D_MSER_minDiversity(),
getFeature2D_MSER_maxEvolution(),
getFeature2D_MSER_areaThreshold(),
getFeature2D_MSER_minMargin(),
getFeature2D_MSER_edgeBlurSize());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
break;
case 4:
if(strategies.at(index).compare("ORB") == 0)
{
if(getFeature2D_ORB_gpu() && cv::gpu::getCudaEnabledDeviceCount())
{
detectorGPU = new GPUORB(
getFeature2D_ORB_nFeatures(),
getFeature2D_ORB_scaleFactor(),
getFeature2D_ORB_nLevels(),
getFeature2D_ORB_edgeThreshold(),
getFeature2D_ORB_firstLevel(),
getFeature2D_ORB_WTA_K(),
getFeature2D_ORB_scoreType(),
getFeature2D_ORB_patchSize(),
getFeature2D_Fast_threshold(),
getFeature2D_Fast_nonmaxSuppression());
UDEBUG("type=%s (GPU)", strategies.at(index).toStdString().c_str());
}
else
{
detector = new cv::ORB(
getFeature2D_ORB_nFeatures(),
getFeature2D_ORB_scaleFactor(),
getFeature2D_ORB_nLevels(),
getFeature2D_ORB_edgeThreshold(),
getFeature2D_ORB_firstLevel(),
getFeature2D_ORB_WTA_K(),
getFeature2D_ORB_scoreType(),
getFeature2D_ORB_patchSize());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
}
break;
case 5:
if(strategies.at(index).compare("SIFT") == 0)
{
detector = new cv::SIFT(
getFeature2D_SIFT_nfeatures(),
getFeature2D_SIFT_nOctaveLayers(),
getFeature2D_SIFT_contrastThreshold(),
getFeature2D_SIFT_edgeThreshold(),
getFeature2D_SIFT_sigma());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
break;
case 6:
if(strategies.at(index).compare("Star") == 0)
{
detector = new cv::StarFeatureDetector(
getFeature2D_Star_maxSize(),
getFeature2D_Star_responseThreshold(),
getFeature2D_Star_lineThresholdProjected(),
getFeature2D_Star_lineThresholdBinarized(),
getFeature2D_Star_suppressNonmaxSize());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
break;
case 7:
if(strategies.at(index).compare("SURF") == 0)
{
if(getFeature2D_SURF_gpu() && cv::gpu::getCudaEnabledDeviceCount())
{
detectorGPU = new GPUSURF(
getFeature2D_SURF_hessianThreshold(),
getFeature2D_SURF_nOctaves(),
getFeature2D_SURF_nOctaveLayers(),
getFeature2D_SURF_extended(),
getFeature2D_SURF_keypointsRatio(),
getFeature2D_SURF_upright());
UDEBUG("type=%s (GPU)", strategies.at(index).toStdString().c_str());
}
else
{
detector = new cv::SURF(
detectorGPU = new GPUSURF(
getFeature2D_SURF_hessianThreshold(),
getFeature2D_SURF_nOctaves(),
getFeature2D_SURF_nOctaveLayers(),
getFeature2D_SURF_extended(),
getFeature2D_SURF_keypointsRatio(),
getFeature2D_SURF_upright());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
UDEBUG("type=%s (GPU)", strategies.at(index).toStdString().c_str());
}
break;
case 8:
if(strategies.at(index).compare("BRISK") == 0)
else
{
detector = new cv::BRISK(
getFeature2D_BRISK_thresh(),
getFeature2D_BRISK_octaves(),
getFeature2D_BRISK_patternScale());
detector = new cv::SURF(
getFeature2D_SURF_hessianThreshold(),
getFeature2D_SURF_nOctaves(),
getFeature2D_SURF_nOctaveLayers(),
getFeature2D_SURF_extended(),
getFeature2D_SURF_upright());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
break;
default:
break;
}
#endif
}
}
}
@@ -606,113 +596,102 @@ DescriptorExtractor * Settings::createDescriptorExtractor()
if(ok)
{
QStringList strategies = split.last().split(';');
#ifdef WITH_NONFREE
if(strategies.size() == 6 && index>=0 && index<6)
#else
if(strategies.size() == 4 && index>=0 && index<4)
#endif
{
switch(index)
if(strategies.at(index).compare("Brief") == 0)
{
case 0:
if(strategies.at(index).compare("Brief") == 0)
{
extractor = new cv::BriefDescriptorExtractor(
getFeature2D_Brief_bytes());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
break;
case 1:
if(strategies.at(index).compare("ORB") == 0)
{
if(getFeature2D_ORB_gpu() && cv::gpu::getCudaEnabledDeviceCount())
{
extractorGPU = new GPUORB(
getFeature2D_ORB_nFeatures(),
getFeature2D_ORB_scaleFactor(),
getFeature2D_ORB_nLevels(),
getFeature2D_ORB_edgeThreshold(),
getFeature2D_ORB_firstLevel(),
getFeature2D_ORB_WTA_K(),
getFeature2D_ORB_scoreType(),
getFeature2D_ORB_patchSize(),
getFeature2D_Fast_threshold(),
getFeature2D_Fast_nonmaxSuppression());
UDEBUG("type=%s (GPU)", strategies.at(index).toStdString().c_str());
}
else
{
extractor = new cv::ORB(
getFeature2D_ORB_nFeatures(),
getFeature2D_ORB_scaleFactor(),
getFeature2D_ORB_nLevels(),
getFeature2D_ORB_edgeThreshold(),
getFeature2D_ORB_firstLevel(),
getFeature2D_ORB_WTA_K(),
getFeature2D_ORB_scoreType(),
getFeature2D_ORB_patchSize());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
}
break;
case 2:
if(strategies.at(index).compare("SIFT") == 0)
{
extractor = new cv::SIFT(
getFeature2D_SIFT_nfeatures(),
getFeature2D_SIFT_nOctaveLayers(),
getFeature2D_SIFT_contrastThreshold(),
getFeature2D_SIFT_edgeThreshold(),
getFeature2D_SIFT_sigma());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
break;
case 3:
if(strategies.at(index).compare("SURF") == 0)
{
if(getFeature2D_SURF_gpu() && cv::gpu::getCudaEnabledDeviceCount())
{
extractorGPU = new GPUSURF(
getFeature2D_SURF_hessianThreshold(),
getFeature2D_SURF_nOctaves(),
getFeature2D_SURF_nOctaveLayers(),
getFeature2D_SURF_extended(),
getFeature2D_SURF_keypointsRatio(),
getFeature2D_SURF_upright());
UDEBUG("type=%s (GPU)", strategies.at(index).toStdString().c_str());
}
else
{
extractor = new cv::SURF(
getFeature2D_SURF_hessianThreshold(),
getFeature2D_SURF_nOctaves(),
getFeature2D_SURF_nOctaveLayers(),
getFeature2D_SURF_extended(),
getFeature2D_SURF_upright());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
}
break;
case 4:
if(strategies.at(index).compare("BRISK") == 0)
{
extractor = new cv::BRISK(
getFeature2D_BRISK_thresh(),
getFeature2D_BRISK_octaves(),
getFeature2D_BRISK_patternScale());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
break;
case 5:
if(strategies.at(index).compare("FREAK") == 0)
{
extractor = new cv::FREAK(
getFeature2D_FREAK_orientationNormalized(),
getFeature2D_FREAK_scaleNormalized(),
getFeature2D_FREAK_patternScale(),
getFeature2D_FREAK_nOctaves());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
break;
default:
break;
extractor = new cv::BriefDescriptorExtractor(
getFeature2D_Brief_bytes());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("ORB") == 0)
{
if(getFeature2D_ORB_gpu() && cv::gpu::getCudaEnabledDeviceCount())
{
extractorGPU = new GPUORB(
getFeature2D_ORB_nFeatures(),
getFeature2D_ORB_scaleFactor(),
getFeature2D_ORB_nLevels(),
getFeature2D_ORB_edgeThreshold(),
getFeature2D_ORB_firstLevel(),
getFeature2D_ORB_WTA_K(),
getFeature2D_ORB_scoreType(),
getFeature2D_ORB_patchSize(),
getFeature2D_Fast_threshold(),
getFeature2D_Fast_nonmaxSuppression());
UDEBUG("type=%s (GPU)", strategies.at(index).toStdString().c_str());
}
else
{
extractor = new cv::ORB(
getFeature2D_ORB_nFeatures(),
getFeature2D_ORB_scaleFactor(),
getFeature2D_ORB_nLevels(),
getFeature2D_ORB_edgeThreshold(),
getFeature2D_ORB_firstLevel(),
getFeature2D_ORB_WTA_K(),
getFeature2D_ORB_scoreType(),
getFeature2D_ORB_patchSize());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
}
else if(strategies.at(index).compare("BRISK") == 0)
{
extractor = new cv::BRISK(
getFeature2D_BRISK_thresh(),
getFeature2D_BRISK_octaves(),
getFeature2D_BRISK_patternScale());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("FREAK") == 0)
{
extractor = new cv::FREAK(
getFeature2D_FREAK_orientationNormalized(),
getFeature2D_FREAK_scaleNormalized(),
getFeature2D_FREAK_patternScale(),
getFeature2D_FREAK_nOctaves());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
#ifdef WITH_NONFREE
else if(strategies.at(index).compare("SIFT") == 0)
{
extractor = new cv::SIFT(
getFeature2D_SIFT_nfeatures(),
getFeature2D_SIFT_nOctaveLayers(),
getFeature2D_SIFT_contrastThreshold(),
getFeature2D_SIFT_edgeThreshold(),
getFeature2D_SIFT_sigma());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("SURF") == 0)
{
if(getFeature2D_SURF_gpu() && cv::gpu::getCudaEnabledDeviceCount())
{
extractorGPU = new GPUSURF(
getFeature2D_SURF_hessianThreshold(),
getFeature2D_SURF_nOctaves(),
getFeature2D_SURF_nOctaveLayers(),
getFeature2D_SURF_extended(),
getFeature2D_SURF_keypointsRatio(),
getFeature2D_SURF_upright());
UDEBUG("type=%s (GPU)", strategies.at(index).toStdString().c_str());
}
else
{
extractor = new cv::SURF(
getFeature2D_SURF_hessianThreshold(),
getFeature2D_SURF_nOctaves(),
getFeature2D_SURF_nOctaveLayers(),
getFeature2D_SURF_extended(),
getFeature2D_SURF_upright());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
}
#endif
}
}
}
@@ -746,6 +725,27 @@ QString Settings::currentNearestNeighborType()
return getNearestNeighbor_1Strategy().split(':').last().split(';').at(index);
}
bool Settings::isBruteForceNearestNeighbor()
{
bool bruteForce = false;
QString str = getNearestNeighbor_1Strategy();
QStringList split = str.split(':');
if(split.size()==2)
{
bool ok = false;
int index = split.first().toInt(&ok);
if(ok)
{
QStringList strategies = split.last().split(';');
if(strategies.size() >= 7 && index == 6)
{
bruteForce = true;
}
}
}
return bruteForce;
}
cv::flann::IndexParams * Settings::createFlannIndexParams()
{
cv::flann::IndexParams * params = 0;
@@ -758,7 +758,7 @@ cv::flann::IndexParams * Settings::createFlannIndexParams()
if(ok)
{
QStringList strategies = split.last().split(';');
if(strategies.size() == 6 && index>=0 && index<6)
if(strategies.size() >= 6 && index>=0 && index<6)
{
switch(index)
{
@@ -884,9 +884,9 @@ cvflann::flann_distance_t Settings::getFlannDistanceType()
cv::flann::SearchParams Settings::getFlannSearchParams()
{
return cv::flann::SearchParams(
getNearestNeighbor_7search_checks(),
getNearestNeighbor_8search_eps(),
getNearestNeighbor_9search_sorted());
getNearestNeighbor_search_checks(),
getNearestNeighbor_search_eps(),
getNearestNeighbor_search_sorted());
}
int Settings::getHomographyMethod()
src/Vocabulary.cpp
+43 -3
View File
@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "Vocabulary.h"
#include <QtCore/QVector>
#include <stdio.h>
#include <opencv2/gpu/gpu.hpp>
namespace find_object {
@@ -67,7 +68,7 @@ QMultiMap<int, int> Vocabulary::addWords(const cv::Mat & descriptors, int object
if(!indexedDescriptors_.empty() && indexedDescriptors_.rows >= (int)k)
{
Q_ASSERT(indexedDescriptors_.type() == descriptors.type() && indexedDescriptors_.cols == descriptors.cols);
flannIndex_.knnSearch(descriptors, results, dists, k, Settings::getFlannSearchParams() );
this->search(descriptors, results, dists, k);
if( dists.type() == CV_32S )
{
@@ -207,7 +208,7 @@ void Vocabulary::update()
notIndexedWordIds_.clear();
}
if(!indexedDescriptors_.empty())
if(!indexedDescriptors_.empty() && !Settings::isBruteForceNearestNeighbor())
{
cv::flann::IndexParams * params = Settings::createFlannIndexParams();
flannIndex_.build(indexedDescriptors_, *params, Settings::getFlannDistanceType());
@@ -223,7 +224,46 @@ void Vocabulary::search(const cv::Mat & descriptors, cv::Mat & results, cv::Mat
{
Q_ASSERT(descriptors.type() == indexedDescriptors_.type() && descriptors.cols == indexedDescriptors_.cols);
flannIndex_.knnSearch(descriptors, results, dists, k, Settings::getFlannSearchParams());
if(Settings::isBruteForceNearestNeighbor())
{
std::vector<std::vector<cv::DMatch> > matches;
if(Settings::getNearestNeighbor_BruteForce_gpu() && cv::gpu::getCudaEnabledDeviceCount())
{
cv::gpu::GpuMat newDescriptorsGpu(descriptors);
cv::gpu::GpuMat lastDescriptorsGpu(indexedDescriptors_);
if(indexedDescriptors_.type()==CV_8U)
{
cv::gpu::BruteForceMatcher_GPU<cv::Hamming> gpuMatcher;
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
else
{
cv::gpu::BruteForceMatcher_GPU<cv::L2<float> > gpuMatcher;
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
}
else
{
cv::BFMatcher matcher(indexedDescriptors_.type()==CV_8U?cv::NORM_HAMMING:cv::NORM_L2);
matcher.knnMatch(descriptors, indexedDescriptors_, matches, k);
}
//convert back to matrix style
results = cv::Mat(matches.size(), k, CV_32SC1);
dists = cv::Mat(matches.size(), k, CV_32FC1);
for(unsigned int i=0; i<matches.size(); ++i)
{
for(int j=0; j<k; ++j)
{
results.at<int>(i, j) = matches[i].at(j).trainIdx;
dists.at<float>(i, j) = matches[i].at(j).distance;
}
}
}
else
{
flannIndex_.knnSearch(descriptors, results, dists, k, Settings::getFlannSearchParams());
}
if( dists.type() == CV_32S )
{