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Added ORB features finder into stitching module

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pull/13383/head
Andrey Kamaev 14 years ago
parent 40ee754e28
commit f299bde3a9
4 changed files with 112 additions and 36 deletions
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  1. 11
      modules/stitching/include/opencv2/stitching/detail/matchers.hpp
  2. 30
      modules/stitching/perf/perf_stich.cpp
  3. 33
      modules/stitching/src/matchers.cpp
  4. 74
      samples/cpp/stitching_detailed.cpp

11
modules/stitching/include/opencv2/stitching/detail/matchers.hpp
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@ -89,6 +89,17 @@ private:
Ptr<SURF> surf;
};
class CV_EXPORTS OrbFeaturesFinder : public FeaturesFinder
{
public:
OrbFeaturesFinder(size_t n_features = 1500, const ORB::CommonParams & detector_params = ORB::CommonParams(1.3, 5));
private:
void find(const Mat &image, ImageFeatures &features);
Ptr<ORB> orb;
};
#ifndef ANDROID
class CV_EXPORTS SurfFeaturesFinderGpu : public FeaturesFinder

30
modules/stitching/perf/perf_stich.cpp
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@ -6,11 +6,9 @@ using namespace std;
using namespace cv;
using namespace perf;
typedef TestBaseWithParam<String> stitch;
/*
// Stitcher::Status Stitcher::stitch(InputArray imgs, OutputArray pano)
*/
PERF_TEST( stitch3, a123 )
PERF_TEST_P( stitch, a123, testing::Values("surf", "orb"))
{
Mat pano;
@ -20,12 +18,21 @@ PERF_TEST( stitch3, a123 )
imgs.push_back( imread( getDataPath("stitching/a3.jpg") ) );
Stitcher::Status status;
Ptr<detail::FeaturesFinder> featuresFinder = GetParam() == "orb"
? (detail::FeaturesFinder*)new detail::OrbFeaturesFinder()
: (detail::FeaturesFinder*)new detail::SurfFeaturesFinder();
declare.time(30 * 20);
Ptr<detail::FeaturesMatcher> featuresMatcher = GetParam() == "orb"
? new detail::BestOf2NearestMatcher(false, 0.3f)
: new detail::BestOf2NearestMatcher(false, 0.65f);
declare.time(30 * 20).iterations(50);
while(next())
{
Stitcher stitcher = Stitcher::createDefault();
stitcher.setFeaturesFinder(featuresFinder);
stitcher.setFeaturesMatcher(featuresMatcher);
startTimer();
status = stitcher.stitch(imgs, pano);
@ -33,7 +40,7 @@ PERF_TEST( stitch3, a123 )
}
}
PERF_TEST( stitch2, b12 )
PERF_TEST_P( stitch, b12, testing::Values("surf", "orb"))
{
Mat pano;
@ -42,12 +49,21 @@ PERF_TEST( stitch2, b12 )
imgs.push_back( imread( getDataPath("stitching/b2.jpg") ) );
Stitcher::Status status;
Ptr<detail::FeaturesFinder> featuresFinder = GetParam() == "orb"
? (detail::FeaturesFinder*)new detail::OrbFeaturesFinder()
: (detail::FeaturesFinder*)new detail::SurfFeaturesFinder();
Ptr<detail::FeaturesMatcher> featuresMatcher = GetParam() == "orb"
? new detail::BestOf2NearestMatcher(false, 0.3f)
: new detail::BestOf2NearestMatcher(false, 0.65f);
declare.time(30 * 20);
declare.time(30 * 20).iterations(50);
while(next())
{
Stitcher stitcher = Stitcher::createDefault();
stitcher.setFeaturesFinder(featuresFinder);
stitcher.setFeaturesMatcher(featuresMatcher);
startTimer();
status = stitcher.stitch(imgs, pano);

33
modules/stitching/src/matchers.cpp
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@ -148,7 +148,20 @@ private:
void CpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info)
{
matches_info.matches.clear();
FlannBasedMatcher matcher;
CV_Assert(features1.descriptors.type() == features2.descriptors.type());
CV_Assert(features2.descriptors.depth() == CV_8U || features2.descriptors.depth() == CV_32F);
Ptr<flann::IndexParams> indexParams = new flann::KDTreeIndexParams();
Ptr<flann::SearchParams> searchParams = new flann::SearchParams();
if (features2.descriptors.depth() == CV_8U)
{
indexParams->setAlgorithm(cvflann::FLANN_INDEX_LSH);
searchParams->setAlgorithm(cvflann::FLANN_INDEX_LSH);
}
FlannBasedMatcher matcher(indexParams, searchParams);
vector< vector<DMatch> > pair_matches;
MatchesSet matches;
@ -166,6 +179,7 @@ void CpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &feat
matches.insert(make_pair(m0.queryIdx, m0.trainIdx));
}
}
LOG("\n1->2 matches: " << matches_info.matches.size() << endl);
// Find 2->1 matches
pair_matches.clear();
@ -180,6 +194,7 @@ void CpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &feat
if (matches.find(make_pair(m0.trainIdx, m0.queryIdx)) == matches.end())
matches_info.matches.push_back(DMatch(m0.trainIdx, m0.queryIdx, m0.distance));
}
LOG("1->2 & 2->1 matches: " << matches_info.matches.size() << endl);
}
#ifndef ANDROID
@ -304,11 +319,10 @@ SurfFeaturesFinder::SurfFeaturesFinder(double hess_thresh, int num_octaves, int
}
}
void SurfFeaturesFinder::find(const Mat &image, ImageFeatures &features)
{
Mat gray_image;
CV_Assert(image.depth() == CV_8U);
CV_Assert(image.type() == CV_8UC3);
cvtColor(image, gray_image, CV_BGR2GRAY);
if (surf == 0)
{
@ -323,6 +337,19 @@ void SurfFeaturesFinder::find(const Mat &image, ImageFeatures &features)
}
}
OrbFeaturesFinder::OrbFeaturesFinder(size_t n_features, const ORB::CommonParams & detector_params)
{
orb = new ORB(n_features, detector_params);
}
void OrbFeaturesFinder::find(const Mat &image, ImageFeatures &features)
{
Mat gray_image;
CV_Assert(image.type() == CV_8UC3);
cvtColor(image, gray_image, CV_BGR2GRAY);
(*orb)(gray_image, Mat(), features.keypoints, features.descriptors);
}
#ifndef ANDROID
SurfFeaturesFinderGpu::SurfFeaturesFinderGpu(double hess_thresh, int num_octaves, int num_layers,

74
samples/cpp/stitching_detailed.cpp
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@ -74,8 +74,10 @@ void printUsage()
"\nMotion Estimation Flags:\n"
" --work_megapix <float>\n"
" Resolution for image registration step. The default is 0.6 Mpx.\n"
" --features (surf|orb)\n"
" Type of features used for images matching. The default is surf.\n"
" --match_conf <float>\n"
" Confidence for feature matching step. The default is 0.65.\n"
" Confidence for feature matching step. The default is 0.65 for surf and 0.3 for orb.\n"
" --conf_thresh <float>\n"
" Threshold for two images are from the same panorama confidence.\n"
" The default is 1.0.\n"
@ -123,6 +125,7 @@ double work_megapix = 0.6;
double seam_megapix = 0.1;
double compose_megapix = -1;
float conf_thresh = 1.f;
string features = "surf";
string ba_cost_func = "ray";
string ba_refine_mask = "xxxxx";
bool do_wave_correct = true;
@ -188,6 +191,13 @@ int parseCmdArgs(int argc, char** argv)
result_name = argv[i + 1];
i++;
}
else if (string(argv[i]) == "--features")
{
features = argv[i + 1];
if (features == "orb")
match_conf = 0.3f;
i++;
}
else if (string(argv[i]) == "--match_conf")
{
match_conf = static_cast<float>(atof(argv[i + 1]));
@ -334,12 +344,24 @@ int main(int argc, char* argv[])
int64 t = getTickCount();
Ptr<FeaturesFinder> finder;
if (features == "surf")
{
#ifndef ANDROID
if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
finder = new SurfFeaturesFinderGpu();
else
if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
finder = new SurfFeaturesFinderGpu();
else
#endif
finder = new SurfFeaturesFinder();
finder = new SurfFeaturesFinder();
}
else if (features == "orb")
{
finder = new OrbFeaturesFinder();
}
else
{
cout << "Unknown 2D features type: '" << features << "'.\n";
return -1;
}
Mat full_img, img;
vector<ImageFeatures> features(num_images);
@ -548,27 +570,27 @@ int main(int argc, char* argv[])
compensator->feed(corners, images_warped, masks_warped);
Ptr<SeamFinder> seam_finder;
if (seam_find_type == "no")
seam_finder = new detail::NoSeamFinder();
else if (seam_find_type == "voronoi")
seam_finder = new detail::VoronoiSeamFinder();
else if (seam_find_type == "gc_color")
{
#ifndef ANDROID
if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
seam_finder = new detail::GraphCutSeamFinderGpu(GraphCutSeamFinderBase::COST_COLOR);
else
#endif
seam_finder = new detail::GraphCutSeamFinder(GraphCutSeamFinderBase::COST_COLOR);
}
else if (seam_find_type == "gc_colorgrad")
{
#ifndef ANDROID
if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
seam_finder = new detail::GraphCutSeamFinderGpu(GraphCutSeamFinderBase::COST_COLOR_GRAD);
else
#endif
seam_finder = new detail::GraphCutSeamFinder(GraphCutSeamFinderBase::COST_COLOR_GRAD);
if (seam_find_type == "no")
seam_finder = new detail::NoSeamFinder();
else if (seam_find_type == "voronoi")
seam_finder = new detail::VoronoiSeamFinder();
else if (seam_find_type == "gc_color")
{
#ifndef ANDROID
if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
seam_finder = new detail::GraphCutSeamFinderGpu(GraphCutSeamFinderBase::COST_COLOR);
else
#endif
seam_finder = new detail::GraphCutSeamFinder(GraphCutSeamFinderBase::COST_COLOR);
}
else if (seam_find_type == "gc_colorgrad")
{
#ifndef ANDROID
if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
seam_finder = new detail::GraphCutSeamFinderGpu(GraphCutSeamFinderBase::COST_COLOR_GRAD);
else
#endif
seam_finder = new detail::GraphCutSeamFinder(GraphCutSeamFinderBase::COST_COLOR_GRAD);
}
if (seam_finder.empty())
{

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