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refactored features finders in stitching module

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pull/13383/head
Alexey Spizhevoy 14 years ago
parent 6d09dd5cf7
commit cbb6ac0c34
5 changed files with 106 additions and 130 deletions
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  1. 35
      modules/stitching/include/opencv2/stitching/detail/matchers.hpp
  2. 2
      modules/stitching/include/opencv2/stitching/warpers.hpp
  3. 162
      modules/stitching/src/matchers.cpp
  4. 20
      modules/stitching/src/stitcher.cpp
  5. 17
      samples/cpp/stitching_detailed.cpp

35
modules/stitching/include/opencv2/stitching/detail/matchers.hpp
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@ -46,6 +46,10 @@
#include "opencv2/core/core.hpp"
#include "opencv2/features2d/features2d.hpp"
#ifndef ANDROID
#include "opencv2/gpu/gpu.hpp"
#endif
namespace cv {
namespace detail {
@ -63,8 +67,6 @@ class CV_EXPORTS FeaturesFinder
public:
virtual ~FeaturesFinder() {}
void operator ()(const Mat &image, ImageFeatures &features);
// TODO put it into operator ()
virtual void collectGarbage() {}
protected:
@ -75,17 +77,38 @@ protected:
class CV_EXPORTS SurfFeaturesFinder : public FeaturesFinder
{
public:
SurfFeaturesFinder(bool try_use_gpu = true, double hess_thresh = 300.0,
int num_octaves = 3, int num_layers = 4,
SurfFeaturesFinder(double hess_thresh = 300., int num_octaves = 3, int num_layers = 4,
int num_octaves_descr = 4, int num_layers_descr = 2);
private:
void find(const Mat &image, ImageFeatures &features);
Ptr<FeatureDetector> detector_;
Ptr<DescriptorExtractor> extractor_;
};
#ifndef ANDROID
class SurfFeaturesFinderGpu : public FeaturesFinder
{
public:
SurfFeaturesFinderGpu(double hess_thresh = 300., int num_octaves = 3, int num_layers = 4,
int num_octaves_descr = 4, int num_layers_descr = 2);
void collectGarbage();
protected:
private:
void find(const Mat &image, ImageFeatures &features);
Ptr<FeaturesFinder> impl_;
gpu::GpuMat image_;
gpu::GpuMat gray_image_;
gpu::SURF_GPU surf_;
gpu::GpuMat keypoints_;
gpu::GpuMat descriptors_;
int num_octaves_, num_layers_;
int num_octaves_descr_, num_layers_descr_;
};
#endif
struct CV_EXPORTS MatchesInfo

2
modules/stitching/include/opencv2/stitching/warpers.hpp
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@ -77,7 +77,6 @@ public:
#ifndef ANDROID
class PlaneWarperGpu: public WarperCreator
{
public:
@ -97,7 +96,6 @@ class SphericalWarperGpu: public WarperCreator
public:
Ptr<detail::Warper> createByFocalLength(double f) const { return new detail::SphericalWarperGpu(f); }
};
#endif
} // namespace cv

162
modules/stitching/src/matchers.cpp
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@ -51,104 +51,6 @@ using namespace cv::gpu;
namespace {
class CpuSurfFeaturesFinder : public FeaturesFinder
{
public:
CpuSurfFeaturesFinder(double hess_thresh, int num_octaves, int num_layers,
int num_octaves_descr, int num_layers_descr)
{
detector_ = new SurfFeatureDetector(hess_thresh, num_octaves, num_layers);
extractor_ = new SurfDescriptorExtractor(num_octaves_descr, num_layers_descr);
}
protected:
void find(const Mat &image, ImageFeatures &features);
private:
Ptr<FeatureDetector> detector_;
Ptr<DescriptorExtractor> extractor_;
};
#ifndef ANDROID
class GpuSurfFeaturesFinder : public FeaturesFinder
{
public:
GpuSurfFeaturesFinder(double hess_thresh, int num_octaves, int num_layers,
int num_octaves_descr, int num_layers_descr)
{
surf_.keypointsRatio = 0.1f;
surf_.hessianThreshold = hess_thresh;
surf_.extended = false;
num_octaves_ = num_octaves;
num_layers_ = num_layers;
num_octaves_descr_ = num_octaves_descr;
num_layers_descr_ = num_layers_descr;
}
void collectGarbage();
protected:
void find(const Mat &image, ImageFeatures &features);
private:
GpuMat image_;
GpuMat gray_image_;
SURF_GPU surf_;
GpuMat keypoints_;
GpuMat descriptors_;
int num_octaves_, num_layers_;
int num_octaves_descr_, num_layers_descr_;
};
#endif
void CpuSurfFeaturesFinder::find(const Mat &image, ImageFeatures &features)
{
Mat gray_image;
CV_Assert(image.depth() == CV_8U);
cvtColor(image, gray_image, CV_BGR2GRAY);
detector_->detect(gray_image, features.keypoints);
extractor_->compute(gray_image, features.keypoints, features.descriptors);
}
#ifndef ANDROID
void GpuSurfFeaturesFinder::find(const Mat &image, ImageFeatures &features)
{
CV_Assert(image.depth() == CV_8U);
ensureSizeIsEnough(image.size(), image.type(), image_);
image_.upload(image);
ensureSizeIsEnough(image.size(), CV_8UC1, gray_image_);
cvtColor(image_, gray_image_, CV_BGR2GRAY);
surf_.nOctaves = num_octaves_;
surf_.nOctaveLayers = num_layers_;
surf_.upright = false;
surf_(gray_image_, GpuMat(), keypoints_);
surf_.nOctaves = num_octaves_descr_;
surf_.nOctaveLayers = num_layers_descr_;
surf_.upright = true;
surf_(gray_image_, GpuMat(), keypoints_, descriptors_, true);
surf_.downloadKeypoints(keypoints_, features.keypoints);
descriptors_.download(features.descriptors);
}
void GpuSurfFeaturesFinder::collectGarbage()
{
surf_.releaseMemory();
image_.release();
gray_image_.release();
keypoints_.release();
descriptors_.release();
}
#endif
//////////////////////////////////////////////////////////////////////////////
struct DistIdxPair
{
bool operator<(const DistIdxPair &other) const { return dist < other.dist; }
@ -347,34 +249,76 @@ void FeaturesFinder::operator ()(const Mat &image, ImageFeatures &features)
{
find(image, features);
features.img_size = image.size();
//features.img = image.clone();
}
SurfFeaturesFinder::SurfFeaturesFinder(bool try_use_gpu, double hess_thresh, int num_octaves, int num_layers,
SurfFeaturesFinder::SurfFeaturesFinder(double hess_thresh, int num_octaves, int num_layers,
int num_octaves_descr, int num_layers_descr)
{
#ifndef ANDROID
if (try_use_gpu && getCudaEnabledDeviceCount() > 0)
impl_ = new GpuSurfFeaturesFinder(hess_thresh, num_octaves, num_layers, num_octaves_descr, num_layers_descr);
else
#endif
impl_ = new CpuSurfFeaturesFinder(hess_thresh, num_octaves, num_layers, num_octaves_descr, num_layers_descr);
detector_ = new SurfFeatureDetector(hess_thresh, num_octaves, num_layers);
extractor_ = new SurfDescriptorExtractor(num_octaves_descr, num_layers_descr);
}
void SurfFeaturesFinder::find(const Mat &image, ImageFeatures &features)
{
(*impl_)(image, features);
Mat gray_image;
CV_Assert(image.depth() == CV_8U);
cvtColor(image, gray_image, CV_BGR2GRAY);
detector_->detect(gray_image, features.keypoints);
extractor_->compute(gray_image, features.keypoints, features.descriptors);
}
void SurfFeaturesFinder::collectGarbage()
#ifndef ANDROID
SurfFeaturesFinderGpu::SurfFeaturesFinderGpu(double hess_thresh, int num_octaves, int num_layers,
int num_octaves_descr, int num_layers_descr)
{
impl_->collectGarbage();
surf_.keypointsRatio = 0.1f;
surf_.hessianThreshold = hess_thresh;
surf_.extended = false;
num_octaves_ = num_octaves;
num_layers_ = num_layers;
num_octaves_descr_ = num_octaves_descr;
num_layers_descr_ = num_layers_descr;
}
void SurfFeaturesFinderGpu::find(const Mat &image, ImageFeatures &features)
{
CV_Assert(image.depth() == CV_8U);
ensureSizeIsEnough(image.size(), image.type(), image_);
image_.upload(image);
ensureSizeIsEnough(image.size(), CV_8UC1, gray_image_);
cvtColor(image_, gray_image_, CV_BGR2GRAY);
surf_.nOctaves = num_octaves_;
surf_.nOctaveLayers = num_layers_;
surf_.upright = false;
surf_(gray_image_, GpuMat(), keypoints_);
surf_.nOctaves = num_octaves_descr_;
surf_.nOctaveLayers = num_layers_descr_;
surf_.upright = true;
surf_(gray_image_, GpuMat(), keypoints_, descriptors_, true);
surf_.downloadKeypoints(keypoints_, features.keypoints);
descriptors_.download(features.descriptors);
}
void SurfFeaturesFinderGpu::collectGarbage()
{
surf_.releaseMemory();
image_.release();
gray_image_.release();
keypoints_.release();
descriptors_.release();
}
#endif
//////////////////////////////////////////////////////////////////////////////
MatchesInfo::MatchesInfo() : src_img_idx(-1), dst_img_idx(-1), num_inliers(0), confidence(0) {}

20
modules/stitching/src/stitcher.cpp
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@ -46,7 +46,6 @@ using namespace std;
namespace cv {
// TODO put all #ifndef ANDROID here, avoid passing try_use_gpu
Stitcher Stitcher::createDefault(bool try_use_gpu)
{
Stitcher stitcher;
@ -55,18 +54,25 @@ Stitcher Stitcher::createDefault(bool try_use_gpu)
stitcher.setCompositingResol(ORIG_RESOL);
stitcher.setPanoConfidenceThresh(1);
stitcher.setHorizontalStrightening(true);
stitcher.setFeaturesFinder(new detail::SurfFeaturesFinder(try_use_gpu));
stitcher.setFeaturesMatcher(new detail::BestOf2NearestMatcher(try_use_gpu));
#ifndef ANDROID
bool must_use_gpu = try_use_gpu && (gpu::getCudaEnabledDeviceCount() > 0);
stitcher.setWarper(must_use_gpu ? static_cast<WarperCreator*>(new SphericalWarperGpu()) :
static_cast<WarperCreator*>(new SphericalWarper()));
#else
stitcher.setWarper(new SphericalWarper());
if (try_use_gpu && gpu::getCudaEnabledDeviceCount() > 0)
{
stitcher.setFeaturesFinder(new detail::SurfFeaturesFinderGpu());
stitcher.setWarper(new SphericalWarperGpu());
}
else
#endif
{
stitcher.setFeaturesFinder(new detail::SurfFeaturesFinder());
stitcher.setWarper(new SphericalWarper());
}
stitcher.setExposureCompenstor(new detail::BlocksGainCompensator());
stitcher.setSeamFinder(new detail::GraphCutSeamFinder());
stitcher.setBlender(new detail::MultiBandBlender(try_use_gpu));
return stitcher;
}

17
samples/cpp/stitching_detailed.cpp
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@ -326,10 +326,16 @@ int main(int argc, char* argv[])
LOGLN("Finding features...");
int64 t = getTickCount();
vector<ImageFeatures> features(num_images);
SurfFeaturesFinder finder(try_gpu);
Mat full_img, img;
Ptr<FeaturesFinder> finder;
#ifndef ANDROID
if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
finder = new SurfFeaturesFinderGpu();
else
#endif
finder = new SurfFeaturesFinder();
Mat full_img, img;
vector<ImageFeatures> features(num_images);
vector<Mat> images(num_images);
vector<Size> full_img_sizes(num_images);
double seam_work_aspect = 1;
@ -366,7 +372,7 @@ int main(int argc, char* argv[])
is_seam_scale_set = true;
}
finder(img, features[i]);
(*finder)(img, features[i]);
features[i].img_idx = i;
LOGLN("Features in image #" << i+1 << ": " << features[i].keypoints.size());
@ -374,8 +380,7 @@ int main(int argc, char* argv[])
images[i] = img.clone();
}
finder.collectGarbage();
finder->collectGarbage();
full_img.release();
img.release();

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