Added GPU-SURF support when OpenCV is built with CUDA.
git-svn-id: http://find-object.googlecode.com/svn/trunk/find_object@337 620bd6b2-0a58-f614-fd9a-1bd335dccda9
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matlabbe
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c4ac09b750
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@ -13,7 +13,7 @@ ENDIF(NOT WIN32)
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#######################
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# VERSION
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#######################
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SET(PROJECT_VERSION "0.4.4")
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SET(PROJECT_VERSION "0.4.5")
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ADD_DEFINITIONS(-DPROJECT_VERSION="${PROJECT_VERSION}")
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STRING(REGEX MATCHALL "[0-9]" PROJECT_VERSION_PARTS "${PROJECT_VERSION}")
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@ -105,8 +105,12 @@ set(CPACK_SOURCE_IGNORE_FILES
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IF(WIN32)
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SET(CPACK_RESOURCE_FILE_LICENSE "${CMAKE_SOURCE_DIR}/LICENSE")
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SET(CPACK_GENERATOR "NSIS;ZIP")
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IF(CMAKE_CL_64)
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SET(CPACK_NSIS_INSTALL_ROOT "$PROGRAMFILES64")
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ELSE()
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SET(CPACK_NSIS_INSTALL_ROOT "$PROGRAMFILES")
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ENDIF()
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SET(CPACK_GENERATOR "ZIP;NSIS")
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SET(CPACK_SOURCE_GENERATOR "ZIP")
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SET(CPACK_NSIS_PACKAGE_NAME "${PROJECT_NAME}")
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SET(ICON_PATH "${PROJECT_SOURCE_DIR}/app/${PROJECT_NAME}.ico")
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@ -21,6 +21,7 @@
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#include "opencv2/calib3d/calib3d.hpp"
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#include "opencv2/imgproc/imgproc.hpp"
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#include "opencv2/gpu/gpu.hpp"
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#include <QtCore/QTextStream>
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#include <QtCore/QFile>
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@ -105,6 +106,13 @@ MainWindow::MainWindow(Camera * camera, const QString & settings, QWidget * pare
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ui_->actionLoad_scene_from_file->setVisible(false);
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}
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if(cv::gpu::getCudaEnabledDeviceCount() == 0)
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{
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Settings::setFeature2D_SURF_gpu(false);
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ui_->toolBox->updateParameter(Settings::kFeature2D_SURF_gpu());
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ui_->toolBox->getParameterWidget(Settings::kFeature2D_SURF_gpu())->setEnabled(false);
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}
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connect((QDoubleSpinBox*)ui_->toolBox->getParameterWidget(Settings::kCamera_4imageRate()),
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SIGNAL(editingFinished()),
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camera_,
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@ -10,6 +10,7 @@
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#include <stdio.h>
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#include <opencv2/nonfree/features2d.hpp>
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#include <opencv2/calib3d/calib3d.hpp>
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#include <opencv2/nonfree/gpu.hpp>
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#define VERBOSE 0
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@ -117,6 +118,76 @@ void Settings::saveSettings(const QString & fileName, const QByteArray & windowG
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printf("Settings saved to %s\n", path.toStdString().c_str());
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}
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class GPUSURF : public cv::Feature2D
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{
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public:
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GPUSURF(double hessianThreshold,
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int nOctaves=4, int nOctaveLayers=2,
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bool extended=true, bool upright=false) :
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hessianThreshold_(hessianThreshold),
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nOctaves_(nOctaves),
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nOctaveLayers_(nOctaveLayers),
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extended_(extended),
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upright_(upright)
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{
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}
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virtual ~GPUSURF() {}
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void operator()(cv::InputArray img, cv::InputArray mask,
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std::vector<cv::KeyPoint>& keypoints,
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cv::OutputArray descriptors,
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bool useProvidedKeypoints=false) const
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{
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printf("GPUSURF:operator() Don't call this directly!\n");
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exit(-1);
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}
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int descriptorSize() const
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{
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return extended_ ? 128 : 64;
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}
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int descriptorType() const
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{
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return CV_32F;
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}
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protected:
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void detectImpl( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, const cv::Mat& mask=cv::Mat() ) const
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{
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cv::gpu::GpuMat imgGpu(image);
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cv::gpu::GpuMat maskGpu(mask);
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cv::gpu::GpuMat keypointsGpu;
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cv::gpu::SURF_GPU surfGpu(hessianThreshold_, nOctaves_, nOctaveLayers_, extended_, 0.01f, upright_);
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surfGpu(imgGpu, maskGpu, keypointsGpu);
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surfGpu.downloadKeypoints(keypointsGpu, keypoints);
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}
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void computeImpl( const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints, cv::Mat& descriptors ) const
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{
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std::vector<float> d;
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cv::gpu::GpuMat imgGpu(image);
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cv::gpu::GpuMat descriptorsGpu;
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cv::gpu::GpuMat keypointsGpu;
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cv::gpu::SURF_GPU surfGpu(hessianThreshold_, nOctaves_, nOctaveLayers_, extended_, 0.01f, upright_);
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surfGpu.uploadKeypoints(keypoints, keypointsGpu);
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surfGpu(imgGpu, cv::gpu::GpuMat(), keypointsGpu, descriptorsGpu, true);
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surfGpu.downloadDescriptors(descriptorsGpu, d);
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unsigned int dim = extended_?128:64;
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descriptors = cv::Mat(d.size()/dim, dim, CV_32F);
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for(int i=0; i<descriptors.rows; ++i)
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{
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float * rowFl = descriptors.ptr<float>(i);
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memcpy(rowFl, &d[i*dim], dim*sizeof(float));
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}
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}
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private:
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double hessianThreshold_;
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int nOctaves_;
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int nOctaveLayers_;
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bool extended_;
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bool upright_;
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};
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cv::FeatureDetector * Settings::createFeaturesDetector()
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{
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cv::FeatureDetector * detector = 0;
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@ -226,6 +297,17 @@ cv::FeatureDetector * Settings::createFeaturesDetector()
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break;
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case 7:
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if(strategies.at(index).compare("SURF") == 0)
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{
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if(getFeature2D_SURF_gpu() && cv::gpu::getCudaEnabledDeviceCount())
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{
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detector = new GPUSURF(
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getFeature2D_SURF_hessianThreshold(),
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getFeature2D_SURF_nOctaves(),
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getFeature2D_SURF_nOctaveLayers(),
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getFeature2D_SURF_extended(),
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getFeature2D_SURF_upright());
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}
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else
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{
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detector = new cv::SURF(
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getFeature2D_SURF_hessianThreshold(),
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@ -233,6 +315,7 @@ cv::FeatureDetector * Settings::createFeaturesDetector()
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getFeature2D_SURF_nOctaveLayers(),
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getFeature2D_SURF_extended(),
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getFeature2D_SURF_upright());
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}
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if(VERBOSE)printf("Settings::createFeaturesDetector() type=%s\n", "SURF");
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}
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break;
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@ -313,6 +396,17 @@ cv::DescriptorExtractor * Settings::createDescriptorsExtractor()
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break;
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case 3:
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if(strategies.at(index).compare("SURF") == 0)
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{
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if(getFeature2D_SURF_gpu() && cv::gpu::getCudaEnabledDeviceCount())
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{
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extractor = new GPUSURF(
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getFeature2D_SURF_hessianThreshold(),
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getFeature2D_SURF_nOctaves(),
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getFeature2D_SURF_nOctaveLayers(),
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getFeature2D_SURF_extended(),
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getFeature2D_SURF_upright());
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}
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else
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{
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extractor = new cv::SURF(
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getFeature2D_SURF_hessianThreshold(),
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@ -320,6 +414,7 @@ cv::DescriptorExtractor * Settings::createDescriptorsExtractor()
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getFeature2D_SURF_nOctaveLayers(),
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getFeature2D_SURF_extended(),
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getFeature2D_SURF_upright());
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}
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if(VERBOSE)printf("Settings::createDescriptorsExtractor() type=%s\n", "SURF");
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}
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break;
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@ -125,6 +125,7 @@ class Settings
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PARAMETER(Feature2D, SURF_nOctaveLayers, int, 2, "Number of octave layers within each octave.");
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PARAMETER(Feature2D, SURF_extended, bool, true, "Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors).");
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PARAMETER(Feature2D, SURF_upright, bool, false, "Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation).");
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PARAMETER(Feature2D, SURF_gpu, bool, false, "GPU-SURF: Use GPU version of SURF. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
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PARAMETER(Feature2D, BRISK_thresh, int, 30, "FAST/AGAST detection threshold score.");
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PARAMETER(Feature2D, BRISK_octaves, int, 3, "Detection octaves. Use 0 to do single scale.");
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