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Added OpenCV 3 support (CUDA module not yet tested)

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This commit is contained in:
matlabbe
2015-06-23 16:38:47 -04:00
parent a50929b0fc
commit b07239a000
10 changed files with 632 additions and 126 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/AddObjectDialog.cpp
+1 -1
View File
@@ -382,7 +382,7 @@ void AddObjectDialog::update(const cv::Mat & image)
}
// Extract keypoints
cv::vector<cv::KeyPoint> keypoints;
std::vector<cv::KeyPoint> keypoints;
detector_->detect(cameraImage_, keypoints);
ui_->cameraView->setData(keypoints, cvtCvMat2QImage(cameraImage_));
src/FindObject.cpp
+10
View File
@@ -533,6 +533,7 @@ protected:
keypoints_.clear();
descriptors_ = cv::Mat();
detector_->detect(image_, keypoints_);
UDEBUG("Detected %d keypoints from object %d...", (int)keypoints_.size(), objectId_);
if(keypoints_.size())
{
@@ -548,6 +549,7 @@ protected:
try
{
extractor_->compute(image_, keypoints_, descriptors_);
UDEBUG("Extracted %d descriptors from object %d...", descriptors_.rows, objectId_);
}
catch(cv::Exception & e)
{
@@ -556,6 +558,14 @@ protected:
descriptors_ = cv::Mat();
keypoints_.clear();
}
catch ( const std::exception& e )
{
// standard exceptions
UERROR("Descriptor exception: %s. Maybe some keypoints are invalid "
"for the selected descriptor extractor.", e.what());
descriptors_ = cv::Mat();
keypoints_.clear();
}
timeExtraction_+=timeStep.restart();
if((int)keypoints_.size() != descriptors_.rows)
src/MainWindow.cpp
+10 -1
View File
@@ -49,7 +49,12 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "opencv2/calib3d/calib3d.hpp"
#include "opencv2/imgproc/imgproc.hpp"
#include "opencv2/gpu/gpu.hpp"
#include <opencv2/opencv_modules.hpp>
#if CV_MAJOR_VERSION < 3
#include <opencv2/gpu/gpu.hpp>
#else
#include <opencv2/core/cuda.hpp>
#endif
#include <QtCore/QTextStream>
#include <QtCore/QFile>
@@ -133,7 +138,11 @@ MainWindow::MainWindow(FindObject * findObject, Camera * camera, QWidget * paren
ui_->actionLoad_scene_from_file->setVisible(false);
}
#if CV_MAJOR_VERSION < 3
if(cv::gpu::getCudaEnabledDeviceCount() == 0)
#else
if(cv::cuda::getCudaEnabledDeviceCount() == 0)
#endif
{
#if FINDOBJECT_NONFREE == 1
ui_->toolBox->updateParameter(Settings::kFeature2D_SURF_gpu());
src/ParametersToolBox.cpp
+39 -3
View File
@@ -38,6 +38,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtGui/QMessageBox>
#include <stdio.h>
#include "find_object/utilite/ULogger.h"
#include <opencv2/opencv_modules.hpp>
namespace find_object {
@@ -337,27 +338,59 @@ void ParametersToolBox::addParameter(QVBoxLayout * layout,
widget->setObjectName(key);
QStringList splitted = value.split(':');
widget->addItems(splitted.last().split(';'));
#if FINDOBJECT_NONFREE == 0
if(key.compare(Settings::kFeature2D_1Detector()) == 0)
{
#if FINDOBJECT_NONFREE == 0
widget->setItemData(5, 0, Qt::UserRole - 1); // disable SIFT
widget->setItemData(7, 0, Qt::UserRole - 1); // disable SURF
#endif
#if CV_MAJOR_VERSION < 3
widget->setItemData(9, 0, Qt::UserRole - 1); // disable AGAST
widget->setItemData(10, 0, Qt::UserRole - 1); // disable KAZE
widget->setItemData(11, 0, Qt::UserRole - 1); // disable AKAZE
#else
widget->setItemData(0, 0, Qt::UserRole - 1); // disable Dense
#ifndef HAVE_OPENCV_XFEATURES2D
widget->setItemData(6, 0, Qt::UserRole - 1); // disable Star
#endif
#endif
}
if(key.compare(Settings::kFeature2D_2Descriptor()) == 0)
{
#if FINDOBJECT_NONFREE == 0
widget->setItemData(2, 0, Qt::UserRole - 1); // disable SIFT
widget->setItemData(3, 0, Qt::UserRole - 1); // disable SURF
#endif
#if CV_MAJOR_VERSION < 3
widget->setItemData(6, 0, Qt::UserRole - 1); // disable KAZE
widget->setItemData(7, 0, Qt::UserRole - 1); // disable AKAZE
widget->setItemData(8, 0, Qt::UserRole - 1); // disable LUCID
widget->setItemData(9, 0, Qt::UserRole - 1); // disable LATCH
widget->setItemData(10, 0, Qt::UserRole - 1); // disable DAISY
#else
#ifndef HAVE_OPENCV_XFEATURES2D
widget->setItemData(0, 0, Qt::UserRole - 1); // disable Brief
widget->setItemData(5, 0, Qt::UserRole - 1); // disable Freak
widget->setItemData(8, 0, Qt::UserRole - 1); // disable LUCID
widget->setItemData(9, 0, Qt::UserRole - 1); // disable LATCH
widget->setItemData(10, 0, Qt::UserRole - 1); // disable DAISY
#endif
#endif
}
if(key.compare(Settings::kNearestNeighbor_1Strategy()) == 0)
{
#if FINDOBJECT_NONFREE == 0 && CV_MAJOR_VERSION < 3
// disable FLANN approaches (cannot be used with binary descriptors)
widget->setItemData(0, 0, Qt::UserRole - 1);
widget->setItemData(1, 0, Qt::UserRole - 1);
widget->setItemData(2, 0, Qt::UserRole - 1);
widget->setItemData(3, 0, Qt::UserRole - 1);
widget->setItemData(4, 0, Qt::UserRole - 1);
}
#endif
}
widget->setCurrentIndex(splitted.first().toInt());
connect(widget, SIGNAL(currentIndexChanged(int)), this, SLOT(changeParameter(int)));
addParameter(layout, key, widget);
@@ -525,7 +558,10 @@ void ParametersToolBox::changeParameter(const int & value)
bool isBinaryDescriptor = descriptorBox->currentText().compare("ORB") == 0 ||
descriptorBox->currentText().compare("Brief") == 0 ||
descriptorBox->currentText().compare("BRISK") == 0 ||
descriptorBox->currentText().compare("FREAK") == 0;
descriptorBox->currentText().compare("FREAK") == 0 ||
descriptorBox->currentText().compare("AKAZE") == 0 ||
descriptorBox->currentText().compare("LATCH") == 0 ||
descriptorBox->currentText().compare("LUCID") == 0;
if(isBinaryDescriptor && nnBox->currentText().compare("Lsh") != 0 && nnBox->currentText().compare("BruteForce") != 0)
{
QMessageBox::warning(this,
src/Settings.cpp
+414 -71
View File
@@ -34,11 +34,29 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <QtCore/QDir>
#include <stdio.h>
#include <opencv2/calib3d/calib3d.hpp>
#if FINDOBJECT_NONFREE == 1
#include <opencv2/nonfree/features2d.hpp>
#include <opencv2/nonfree/gpu.hpp>
#endif
#include <opencv2/opencv_modules.hpp>
#if CV_MAJOR_VERSION < 3
#include <opencv2/gpu/gpu.hpp>
#define CVCUDA cv::gpu
#else
#include <opencv2/core/cuda.hpp>
#define CVCUDA cv::cuda
#ifdef HAVE_OPENCV_CUDAFEATURES2D
#include <opencv2/cudafeatures2d.hpp>
#endif
#endif
#ifdef HAVE_OPENCV_NONFREE
#if CV_MAJOR_VERSION == 2 && CV_MINOR_VERSION >=4
#include <opencv2/nonfree/gpu.hpp>
#include <opencv2/nonfree/features2d.hpp>
#endif
#endif
#ifdef HAVE_OPENCV_XFEATURES2D
#include <opencv2/xfeatures2d.hpp>
#include <opencv2/xfeatures2d/cuda.hpp>
#endif
namespace find_object {
@@ -166,7 +184,7 @@ void Settings::loadSettings(const QString & fileName)
UINFO("Settings set to defaults.");
}
if(cv::gpu::getCudaEnabledDeviceCount() == 0)
if(CVCUDA::getCudaEnabledDeviceCount() == 0)
{
#if FINDOBJECT_NONFREE == 1
Settings::setFeature2D_SURF_gpu(false);
@@ -292,8 +310,8 @@ public:
std::vector<cv::KeyPoint> & keypoints,
const cv::Mat & mask = cv::Mat())
{
cv::gpu::GpuMat imgGpu(image);
cv::gpu::GpuMat maskGpu(mask);
CVCUDA::GpuMat imgGpu(image);
CVCUDA::GpuMat maskGpu(mask);
try
{
surf_(imgGpu, maskGpu, keypoints);
@@ -314,11 +332,11 @@ public:
cv::Mat& descriptors)
{
std::vector<float> d;
cv::gpu::GpuMat imgGpu(image);
cv::gpu::GpuMat descriptorsGPU;
CVCUDA::GpuMat imgGpu(image);
CVCUDA::GpuMat descriptorsGPU;
try
{
surf_(imgGpu, cv::gpu::GpuMat(), keypoints, descriptorsGPU, true);
surf_(imgGpu, CVCUDA::GpuMat(), keypoints, descriptorsGPU, true);
}
catch(cv::Exception &e)
{
@@ -341,7 +359,11 @@ public:
}
}
private:
cv::gpu::SURF_GPU surf_; // HACK: static because detectImpl() is const!
#if CV_MAJOR_VERSION < 3
CVCUDA::SURF_GPU surf_;
#else
CVCUDA::SURF_CUDA surf_;
#endif
};
#endif
@@ -350,10 +372,18 @@ class GPUFAST : public GPUFeature2D
public:
GPUFAST(int threshold=Settings::defaultFeature2D_Fast_threshold(),
bool nonmaxSuppression=Settings::defaultFeature2D_Fast_nonmaxSuppression(),
double keypointsRatio=Settings::defaultFeature2D_Fast_keypointsRatio()) :
fast_(threshold,
double keypointsRatio=Settings::defaultFeature2D_Fast_keypointsRatio())
#if CV_MAJOR_VERSION < 3
: fast_(threshold,
nonmaxSuppression,
keypointsRatio)
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
: fast_(threshold,
nonmaxSuppression,
keypointsRatio)
#endif
#endif
{
}
virtual ~GPUFAST() {}
@@ -363,9 +393,15 @@ protected:
std::vector<cv::KeyPoint> & keypoints,
const cv::Mat & mask = cv::Mat())
{
cv::gpu::GpuMat imgGpu(image);
cv::gpu::GpuMat maskGpu(mask);
CVCUDA::GpuMat imgGpu(image);
CVCUDA::GpuMat maskGpu(mask);
#if CV_MAJOR_VERSION < 3
fast_(imgGpu, maskGpu, keypoints);
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
fast_(imgGpu, maskGpu, keypoints);
#endif
#endif
}
void computeDescriptors( const cv::Mat& image,
std::vector<cv::KeyPoint>& keypoints,
@@ -375,7 +411,13 @@ protected:
}
private:
cv::gpu::FAST_GPU fast_;
#if CV_MAJOR_VERSION < 3
CVCUDA::FAST_GPU fast_;
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
CVCUDA::FAST_GPU fast_;
#endif
#endif
};
class GPUORB : public GPUFeature2D
@@ -390,8 +432,9 @@ public:
int scoreType = Settings::defaultFeature2D_ORB_scoreType(),
int patchSize = Settings::defaultFeature2D_ORB_patchSize(),
int fastThreshold = Settings::defaultFeature2D_Fast_threshold(),
bool fastNonmaxSupression = Settings::defaultFeature2D_Fast_nonmaxSuppression()) :
orb_(nFeatures,
bool fastNonmaxSupression = Settings::defaultFeature2D_Fast_nonmaxSuppression())
#if CV_MAJOR_VERSION < 3
: orb_(nFeatures,
scaleFactor,
nLevels,
edgeThreshold ,
@@ -399,8 +442,26 @@ public:
WTA_K,
scoreType,
patchSize)
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
: orb_(nFeatures,
scaleFactor,
nLevels,
edgeThreshold ,
firstLevel,
WTA_K,
scoreType,
patchSize)
#endif
#endif
{
#if CV_MAJOR_VERSION < 3
orb_.setFastParams(fastThreshold, fastNonmaxSupression);
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
orb_.setFastParams(fastThreshold, fastNonmaxSupression);
#endif
#endif
}
virtual ~GPUORB() {}
@@ -409,11 +470,19 @@ protected:
std::vector<cv::KeyPoint> & keypoints,
const cv::Mat & mask = cv::Mat())
{
cv::gpu::GpuMat imgGpu(image);
cv::gpu::GpuMat maskGpu(mask);
CVCUDA::GpuMat imgGpu(image);
CVCUDA::GpuMat maskGpu(mask);
try
{
#if CV_MAJOR_VERSION < 3
orb_(imgGpu, maskGpu, keypoints);
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
orb_(imgGpu, maskGpu, keypoints);
#endif
#endif
}
catch(cv::Exception &e)
{
@@ -429,11 +498,19 @@ protected:
cv::Mat& descriptors)
{
std::vector<float> d;
cv::gpu::GpuMat imgGpu(image);
cv::gpu::GpuMat descriptorsGPU;
CVCUDA::GpuMat imgGpu(image);
CVCUDA::GpuMat descriptorsGPU;
try
{
orb_(imgGpu, cv::gpu::GpuMat(), keypoints, descriptorsGPU); // No option to use provided keypoints!?
#if CV_MAJOR_VERSION < 3
orb_(imgGpu, CVCUDA::GpuMat(), keypoints, descriptorsGPU); // No option to use provided keypoints!?
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
orb_(imgGpu, CVCUDA::GpuMat(), keypoints, descriptorsGPU); // No option to use provided keypoints!?
#endif
#endif
}
catch(cv::Exception &e)
{
@@ -453,12 +530,18 @@ protected:
}
}
private:
cv::gpu::ORB_GPU orb_;
#if CV_MAJOR_VERSION < 3
CVCUDA::ORB_GPU orb_;
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
CVCUDA::ORB_GPU orb_;
#endif
#endif
};
KeypointDetector * Settings::createKeypointDetector()
{
cv::FeatureDetector * detector = 0;
cv::Ptr<cv::FeatureDetector> detector;
GPUFeature2D * detectorGPU = 0;
QString str = getFeature2D_1Detector();
QStringList split = str.split(':');
@@ -470,7 +553,7 @@ KeypointDetector * Settings::createKeypointDetector()
{
QStringList strategies = split.last().split(';');
if(strategies.size() == 9 && index>=0 && index<9)
if(index>=0 && index<strategies.size())
{
#if FINDOBJECT_NONFREE == 0
@@ -488,19 +571,23 @@ KeypointDetector * Settings::createKeypointDetector()
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());
#if CV_MAJOR_VERSION < 3
detector = cv::Ptr<cv::FeatureDetector>(new cv::DenseFeatureDetector(
getFeature2D_Dense_initFeatureScale(),
getFeature2D_Dense_featureScaleLevels(),
getFeature2D_Dense_featureScaleMul(),
getFeature2D_Dense_initXyStep(),
getFeature2D_Dense_initImgBound(),
getFeature2D_Dense_varyXyStepWithScale(),
getFeature2D_Dense_varyImgBoundWithScale()));
#else
UWARN("Find-Object is not built with OpenCV 2 so Dense cannot be used!");
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("Fast") == 0)
{
if(getFeature2D_Fast_gpu() && cv::gpu::getCudaEnabledDeviceCount())
if(getFeature2D_Fast_gpu() && CVCUDA::getCudaEnabledDeviceCount())
{
detectorGPU = new GPUFAST(
getFeature2D_Fast_threshold(),
@@ -509,26 +596,65 @@ KeypointDetector * Settings::createKeypointDetector()
}
else
{
detector = new cv::FastFeatureDetector(
#if CV_MAJOR_VERSION < 3
detector = cv::Ptr<cv::FeatureDetector>(new cv::FastFeatureDetector(
getFeature2D_Fast_threshold(),
getFeature2D_Fast_nonmaxSuppression()));
#else
detector = cv::FastFeatureDetector::create(
getFeature2D_Fast_threshold(),
getFeature2D_Fast_nonmaxSuppression());
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
}
else if(strategies.at(index).compare("AGAST") == 0)
{
#if CV_MAJOR_VERSION < 3
UWARN("Find-Object is not built with OpenCV 3 so AGAST cannot be used!");
#else
detector = cv::AgastFeatureDetector::create(
getFeature2D_AGAST_threshold(),
getFeature2D_AGAST_nonmaxSuppression());
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("GFTT") == 0)
{
detector = new cv::GFTTDetector(
#if CV_MAJOR_VERSION < 3
detector = cv::Ptr<cv::FeatureDetector>(new cv::GFTTDetector(
getFeature2D_GFTT_maxCorners(),
getFeature2D_GFTT_qualityLevel(),
getFeature2D_GFTT_minDistance(),
getFeature2D_GFTT_blockSize(),
getFeature2D_GFTT_useHarrisDetector(),
getFeature2D_GFTT_k()));
#else
detector = cv::GFTTDetector::create(
getFeature2D_GFTT_maxCorners(),
getFeature2D_GFTT_qualityLevel(),
getFeature2D_GFTT_minDistance(),
getFeature2D_GFTT_blockSize(),
getFeature2D_GFTT_useHarrisDetector(),
getFeature2D_GFTT_k());
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("MSER") == 0)
{
detector = new cv::MSER(
#if CV_MAJOR_VERSION < 3
detector = cv::Ptr<cv::FeatureDetector>(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()));
#else
detector = cv::MSER::create(
getFeature2D_MSER_delta(),
getFeature2D_MSER_minArea(),
getFeature2D_MSER_maxArea(),
@@ -538,11 +664,12 @@ KeypointDetector * Settings::createKeypointDetector()
getFeature2D_MSER_areaThreshold(),
getFeature2D_MSER_minMargin(),
getFeature2D_MSER_edgeBlurSize());
#endif
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_ORB_gpu() && CVCUDA::getCudaEnabledDeviceCount())
{
detectorGPU = new GPUORB(
getFeature2D_ORB_nFeatures(),
@@ -559,7 +686,18 @@ KeypointDetector * Settings::createKeypointDetector()
}
else
{
detector = new cv::ORB(
#if CV_MAJOR_VERSION < 3
detector = cv::Ptr<cv::FeatureDetector>(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()));
#else
detector = cv::ORB::create(
getFeature2D_ORB_nFeatures(),
getFeature2D_ORB_scaleFactor(),
getFeature2D_ORB_nLevels(),
@@ -568,41 +706,102 @@ KeypointDetector * Settings::createKeypointDetector()
getFeature2D_ORB_WTA_K(),
getFeature2D_ORB_scoreType(),
getFeature2D_ORB_patchSize());
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
}
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());
#if CV_MAJOR_VERSION < 3
detector = cv::Ptr<cv::FeatureDetector>(new cv::StarFeatureDetector(
getFeature2D_Star_maxSize(),
getFeature2D_Star_responseThreshold(),
getFeature2D_Star_lineThresholdProjected(),
getFeature2D_Star_lineThresholdBinarized(),
getFeature2D_Star_suppressNonmaxSize()));
#else
#ifdef HAVE_OPENCV_XFEATURES2D
detector = cv::xfeatures2d::StarDetector::create(
getFeature2D_Star_maxSize(),
getFeature2D_Star_responseThreshold(),
getFeature2D_Star_lineThresholdProjected(),
getFeature2D_Star_lineThresholdBinarized(),
getFeature2D_Star_suppressNonmaxSize());
#else
UWARN("Find-Object is not built with OpenCV xfeatures2d module so Star cannot be used!");
#endif
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("BRISK") == 0)
{
detector = new cv::BRISK(
#if CV_MAJOR_VERSION < 3
detector = cv::Ptr<cv::FeatureDetector>(new cv::BRISK(
getFeature2D_BRISK_thresh(),
getFeature2D_BRISK_octaves(),
getFeature2D_BRISK_patternScale()));
#else
detector = cv::BRISK::create(
getFeature2D_BRISK_thresh(),
getFeature2D_BRISK_octaves(),
getFeature2D_BRISK_patternScale());
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("KAZE") == 0)
{
#if CV_MAJOR_VERSION < 3
UWARN("Find-Object is not built with OpenCV 3 so KAZE cannot be used!");
#else
detector = cv::KAZE::create(
getFeature2D_KAZE_extended(),
getFeature2D_KAZE_upright(),
getFeature2D_KAZE_threshold(),
getFeature2D_KAZE_nOctaves(),
getFeature2D_KAZE_nOctaveLayers(),
cv::KAZE::DIFF_PM_G2); // FIXME: make a parameter
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("AKAZE") == 0)
{
#if CV_MAJOR_VERSION < 3
UWARN("Find-Object is not built with OpenCV 3 so AKAZE cannot be used!");
#else
detector = cv::AKAZE::create(
cv::AKAZE::DESCRIPTOR_MLDB, // FIXME: make a parameter
getFeature2D_AKAZE_descriptorSize(),
getFeature2D_AKAZE_descriptorChannels(),
getFeature2D_AKAZE_threshold(),
getFeature2D_AKAZE_nOctaves(),
getFeature2D_AKAZE_nOctaveLayers(),
cv::KAZE::DIFF_PM_G2); // FIXME: make a parameter
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
#if FINDOBJECT_NONFREE == 1
else if(strategies.at(index).compare("SIFT") == 0)
{
detector = new cv::SIFT(
#if CV_MAJOR_VERSION < 3
detector = cv::Ptr<cv::FeatureDetector>(new cv::SIFT(
getFeature2D_SIFT_nfeatures(),
getFeature2D_SIFT_nOctaveLayers(),
getFeature2D_SIFT_contrastThreshold(),
getFeature2D_SIFT_edgeThreshold(),
getFeature2D_SIFT_sigma()));
#else
detector = cv::xfeatures2d::SIFT::create(
getFeature2D_SIFT_nfeatures(),
getFeature2D_SIFT_nOctaveLayers(),
getFeature2D_SIFT_contrastThreshold(),
getFeature2D_SIFT_edgeThreshold(),
getFeature2D_SIFT_sigma());
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("SURF") == 0)
{
if(getFeature2D_SURF_gpu() && cv::gpu::getCudaEnabledDeviceCount())
if(getFeature2D_SURF_gpu() && CVCUDA::getCudaEnabledDeviceCount())
{
detectorGPU = new GPUSURF(
getFeature2D_SURF_hessianThreshold(),
@@ -615,12 +814,21 @@ KeypointDetector * Settings::createKeypointDetector()
}
else
{
detector = new cv::SURF(
#if CV_MAJOR_VERSION < 3
detector = cv::Ptr<cv::FeatureDetector>(new cv::SURF(
getFeature2D_SURF_hessianThreshold(),
getFeature2D_SURF_nOctaves(),
getFeature2D_SURF_nOctaveLayers(),
getFeature2D_SURF_extended(),
getFeature2D_SURF_upright()));
#else
detector = cv::xfeatures2d::SURF::create(
getFeature2D_SURF_hessianThreshold(),
getFeature2D_SURF_nOctaves(),
getFeature2D_SURF_nOctaveLayers(),
getFeature2D_SURF_extended(),
getFeature2D_SURF_upright());
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
}
@@ -629,7 +837,7 @@ KeypointDetector * Settings::createKeypointDetector()
}
}
UASSERT(detectorGPU!=0 || detector!=0);
UASSERT(detectorGPU!=0 || !detector.empty());
if(detectorGPU)
{
return new KeypointDetector(detectorGPU);
@@ -642,7 +850,7 @@ KeypointDetector * Settings::createKeypointDetector()
DescriptorExtractor * Settings::createDescriptorExtractor()
{
cv::DescriptorExtractor * extractor = 0;
cv::Ptr<cv::DescriptorExtractor> extractor;
GPUFeature2D * extractorGPU = 0;
QString str = getFeature2D_2Descriptor();
QStringList split = str.split(':');
@@ -653,7 +861,7 @@ DescriptorExtractor * Settings::createDescriptorExtractor()
if(ok)
{
QStringList strategies = split.last().split(';');
if(strategies.size() == 6 && index>=0 && index<6)
if(index>=0 && index<strategies.size())
{
#if FINDOBJECT_NONFREE == 0
@@ -671,13 +879,22 @@ DescriptorExtractor * Settings::createDescriptorExtractor()
if(strategies.at(index).compare("Brief") == 0)
{
extractor = new cv::BriefDescriptorExtractor(
getFeature2D_Brief_bytes());
#if CV_MAJOR_VERSION < 3
extractor = cv::Ptr<cv::DescriptorExtractor>(new cv::BriefDescriptorExtractor(
getFeature2D_Brief_bytes()));
#else
#ifdef HAVE_OPENCV_XFEATURES2D
extractor = cv::xfeatures2d::BriefDescriptorExtractor::create(
getFeature2D_Brief_bytes());
#else
UWARN("Find-Object is not built with OpenCV xfeatures2d module so Brief cannot be used!");
#endif
#endif
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_ORB_gpu() && CVCUDA::getCudaEnabledDeviceCount())
{
extractorGPU = new GPUORB(
getFeature2D_ORB_nFeatures(),
@@ -694,7 +911,18 @@ DescriptorExtractor * Settings::createDescriptorExtractor()
}
else
{
extractor = new cv::ORB(
#if CV_MAJOR_VERSION < 3
extractor = cv::Ptr<cv::DescriptorExtractor>(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()));
#else
extractor = cv::ORB::create(
getFeature2D_ORB_nFeatures(),
getFeature2D_ORB_scaleFactor(),
getFeature2D_ORB_nLevels(),
@@ -703,40 +931,134 @@ DescriptorExtractor * Settings::createDescriptorExtractor()
getFeature2D_ORB_WTA_K(),
getFeature2D_ORB_scoreType(),
getFeature2D_ORB_patchSize());
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
}
else if(strategies.at(index).compare("BRISK") == 0)
{
extractor = new cv::BRISK(
#if CV_MAJOR_VERSION < 3
extractor = cv::Ptr<cv::DescriptorExtractor>(new cv::BRISK(
getFeature2D_BRISK_thresh(),
getFeature2D_BRISK_octaves(),
getFeature2D_BRISK_patternScale()));
#else
extractor = cv::BRISK::create(
getFeature2D_BRISK_thresh(),
getFeature2D_BRISK_octaves(),
getFeature2D_BRISK_patternScale());
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("KAZE") == 0)
{
#if CV_MAJOR_VERSION < 3
UWARN("Find-Object is not built with OpenCV 3 so KAZE cannot be used!");
#else
extractor = cv::KAZE::create(
getFeature2D_KAZE_extended(),
getFeature2D_KAZE_upright(),
getFeature2D_KAZE_threshold(),
getFeature2D_KAZE_nOctaves(),
getFeature2D_KAZE_nOctaveLayers(),
cv::KAZE::DIFF_PM_G2); // FIXME: make a parameter
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("AKAZE") == 0)
{
#if CV_MAJOR_VERSION < 3
UWARN("Find-Object is not built with OpenCV 3 so AKAZE cannot be used!");
#else
extractor = cv::AKAZE::create(
cv::AKAZE::DESCRIPTOR_MLDB, // FIXME: make a parameter
getFeature2D_AKAZE_descriptorSize(),
getFeature2D_AKAZE_descriptorChannels(),
getFeature2D_AKAZE_threshold(),
getFeature2D_AKAZE_nOctaves(),
getFeature2D_AKAZE_nOctaveLayers(),
cv::KAZE::DIFF_PM_G2); // FIXME: make a parameter
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("FREAK") == 0)
{
extractor = new cv::FREAK(
#if CV_MAJOR_VERSION < 3
extractor = cv::Ptr<cv::DescriptorExtractor>(new cv::FREAK(
getFeature2D_FREAK_orientationNormalized(),
getFeature2D_FREAK_scaleNormalized(),
getFeature2D_FREAK_patternScale(),
getFeature2D_FREAK_nOctaves()));
#else
#ifdef HAVE_OPENCV_XFEATURES2D
extractor = cv::xfeatures2d::FREAK::create(
getFeature2D_FREAK_orientationNormalized(),
getFeature2D_FREAK_scaleNormalized(),
getFeature2D_FREAK_patternScale(),
getFeature2D_FREAK_nOctaves());
#else
UWARN("Find-Object is not built with OpenCV xfeatures2d module so Freak cannot be used!");
#endif
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
#ifdef HAVE_OPENCV_XFEATURES2D
else if(strategies.at(index).compare("LUCID") == 0)
{
extractor = cv::xfeatures2d::LUCID::create(
getFeature2D_LUCID_kernel(),
getFeature2D_LUCID_blur_kernel());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("LATCH") == 0)
{
extractor = cv::xfeatures2d::LATCH::create(
getFeature2D_LATCH_bytes(),
getFeature2D_LATCH_rotationInvariance(),
getFeature2D_LATCH_half_ssd_size());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("DAISY") == 0)
{
extractor = cv::xfeatures2d::DAISY::create(
getFeature2D_DAISY_radius(),
getFeature2D_DAISY_q_radius(),
getFeature2D_DAISY_q_theta(),
getFeature2D_DAISY_q_hist(),
cv::xfeatures2d::DAISY::NRM_NONE,
cv::noArray(),
getFeature2D_DAISY_interpolation(),
getFeature2D_DAISY_use_orientation());
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
#endif
#if FINDOBJECT_NONFREE == 1
else if(strategies.at(index).compare("SIFT") == 0)
{
extractor = new cv::SIFT(
#if CV_MAJOR_VERSION < 3
extractor = cv::Ptr<cv::DescriptorExtractor>(new cv::SIFT(
getFeature2D_SIFT_nfeatures(),
getFeature2D_SIFT_nOctaveLayers(),
getFeature2D_SIFT_contrastThreshold(),
getFeature2D_SIFT_edgeThreshold(),
getFeature2D_SIFT_sigma()));
#else
extractor = cv::xfeatures2d::SIFT::create(
getFeature2D_SIFT_nfeatures(),
getFeature2D_SIFT_nOctaveLayers(),
getFeature2D_SIFT_contrastThreshold(),
getFeature2D_SIFT_edgeThreshold(),
getFeature2D_SIFT_sigma());
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
else if(strategies.at(index).compare("SURF") == 0)
{
if(getFeature2D_SURF_gpu() && cv::gpu::getCudaEnabledDeviceCount())
if(getFeature2D_SURF_gpu() && CVCUDA::getCudaEnabledDeviceCount())
{
extractorGPU = new GPUSURF(
getFeature2D_SURF_hessianThreshold(),
@@ -749,12 +1071,21 @@ DescriptorExtractor * Settings::createDescriptorExtractor()
}
else
{
extractor = new cv::SURF(
#if CV_MAJOR_VERSION < 3
extractor = cv::Ptr<cv::DescriptorExtractor>(new cv::SURF(
getFeature2D_SURF_hessianThreshold(),
getFeature2D_SURF_nOctaves(),
getFeature2D_SURF_nOctaveLayers(),
getFeature2D_SURF_extended(),
getFeature2D_SURF_upright()));
#else
extractor = cv::xfeatures2d::SURF::create(
getFeature2D_SURF_hessianThreshold(),
getFeature2D_SURF_nOctaves(),
getFeature2D_SURF_nOctaveLayers(),
getFeature2D_SURF_extended(),
getFeature2D_SURF_upright());
#endif
UDEBUG("type=%s", strategies.at(index).toStdString().c_str());
}
}
@@ -763,7 +1094,7 @@ DescriptorExtractor * Settings::createDescriptorExtractor()
}
}
UASSERT(extractorGPU!=0 || extractor!=0);
UASSERT(extractorGPU!=0 || !extractor.empty());
if(extractorGPU)
{
return new DescriptorExtractor(extractorGPU);
@@ -986,23 +1317,29 @@ int Settings::getHomographyMethod()
return method;
}
KeypointDetector::KeypointDetector(cv::FeatureDetector * featureDetector) :
KeypointDetector::KeypointDetector(cv::Ptr<cv::FeatureDetector> & featureDetector) :
featureDetector_(featureDetector),
gpuFeature2D_(0)
{
UASSERT(featureDetector_!=0);
UASSERT(!featureDetector_.empty());
}
KeypointDetector::KeypointDetector(GPUFeature2D * gpuFeature2D) :
featureDetector_(0),
gpuFeature2D_(gpuFeature2D)
{
UASSERT(gpuFeature2D_!=0);
}
KeypointDetector::~KeypointDetector()
{
if(gpuFeature2D_)
{
delete gpuFeature2D_;
}
}
void KeypointDetector::detect(const cv::Mat & image,
std::vector<cv::KeyPoint> & keypoints,
const cv::Mat & mask)
{
if(featureDetector_)
if(!featureDetector_.empty())
{
featureDetector_->detect(image, keypoints, mask);
}
@@ -1012,23 +1349,29 @@ void KeypointDetector::detect(const cv::Mat & image,
}
}
DescriptorExtractor::DescriptorExtractor(cv::DescriptorExtractor * descriptorExtractor) :
DescriptorExtractor::DescriptorExtractor(cv::Ptr<cv::DescriptorExtractor> & descriptorExtractor) :
descriptorExtractor_(descriptorExtractor),
gpuFeature2D_(0)
{
UASSERT(descriptorExtractor_!=0);
UASSERT(!descriptorExtractor_.empty());
}
DescriptorExtractor::DescriptorExtractor(GPUFeature2D * gpuFeature2D) :
descriptorExtractor_(0),
gpuFeature2D_(gpuFeature2D)
{
UASSERT(gpuFeature2D_!=0);
}
DescriptorExtractor::~DescriptorExtractor()
{
if(gpuFeature2D_)
{
delete gpuFeature2D_;
}
}
void DescriptorExtractor::compute(const cv::Mat & image,
std::vector<cv::KeyPoint> & keypoints,
cv::Mat & descriptors)
{
if(descriptorExtractor_)
if(!descriptorExtractor_.empty())
{
descriptorExtractor_->compute(image, keypoints, descriptors);
}
src/Vocabulary.cpp
+30 -5
View File
@@ -31,7 +31,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include "Vocabulary.h"
#include <QtCore/QVector>
#include <stdio.h>
#if CV_MAJOR_VERSION < 3
#include <opencv2/gpu/gpu.hpp>
#define CVCUDA cv::gpu
#else
#include <opencv2/core/cuda.hpp>
#define CVCUDA cv::cuda
#ifdef HAVE_OPENCV_CUDAFEATURES2D
#include <opencv2/cudafeatures2d.hpp>
#endif
#endif
namespace find_object {
@@ -264,20 +273,36 @@ void Vocabulary::search(const cv::Mat & descriptors, cv::Mat & results, cv::Mat
if(Settings::isBruteForceNearestNeighbor())
{
std::vector<std::vector<cv::DMatch> > matches;
if(Settings::getNearestNeighbor_BruteForce_gpu() && cv::gpu::getCudaEnabledDeviceCount())
if(Settings::getNearestNeighbor_BruteForce_gpu() && CVCUDA::getCudaEnabledDeviceCount())
{
cv::gpu::GpuMat newDescriptorsGpu(descriptors);
cv::gpu::GpuMat lastDescriptorsGpu(indexedDescriptors_);
CVCUDA::GpuMat newDescriptorsGpu(descriptors);
CVCUDA::GpuMat lastDescriptorsGpu(indexedDescriptors_);
#if CV_MAJOR_VERSION < 3
if(indexedDescriptors_.type()==CV_8U)
{
cv::gpu::BruteForceMatcher_GPU<cv::Hamming> gpuMatcher;
CVCUDA::BruteForceMatcher_GPU<cv::Hamming> gpuMatcher;
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
else
{
cv::gpu::BruteForceMatcher_GPU<cv::L2<float> > gpuMatcher;
CVCUDA::BruteForceMatcher_GPU<cv::L2<float> > gpuMatcher;
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
cv::Ptr<cv::cuda::DescriptorMatcher> gpuMatcher;
if(indexedDescriptors_.type()==CV_8U)
{
gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_HAMMING);
gpuMatcher->knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
else
{
gpuMatcher = cv::cuda::DescriptorMatcher::createBFMatcher(cv::NORM_L2);
gpuMatcher.knnMatch(newDescriptorsGpu, lastDescriptorsGpu, matches, k);
}
#endif
#endif
}
else
{