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Tegra-optimized features matching for Stitching

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This commit is contained in:
Andrey Kamaev
2011-10-27 14:06:06 +00:00
parent 5afb445283
commit b720eddd9e
4 changed files with 74 additions and 10 deletions
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63
modules/stitching/perf/perf_stich.cpp
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@@ -1,12 +1,18 @@
#include "perf_precomp.hpp"
#include "opencv2/highgui/highgui.hpp"
#include "opencv2/flann/flann.hpp"
using namespace std;
using namespace cv;
using namespace perf;
#define SURF_MATCH_CONFIDENCE 0.65f
#define ORB_MATCH_CONFIDENCE 0.3f
#define WORK_MEGAPIX 0.6
typedef TestBaseWithParam<String> stitch;
typedef TestBaseWithParam<String> match;
PERF_TEST_P( stitch, a123, testing::Values("surf", "orb"))
{
@@ -23,8 +29,8 @@ PERF_TEST_P( stitch, a123, testing::Values("surf", "orb"))
: (detail::FeaturesFinder*)new detail::SurfFeaturesFinder();
Ptr<detail::FeaturesMatcher> featuresMatcher = GetParam() == "orb"
? new detail::BestOf2NearestMatcher(false, 0.3f)
: new detail::BestOf2NearestMatcher(false, 0.65f);
? new detail::BestOf2NearestMatcher(false, ORB_MATCH_CONFIDENCE)
: new detail::BestOf2NearestMatcher(false, SURF_MATCH_CONFIDENCE);
declare.time(30 * 20).iterations(50);
@@ -33,6 +39,8 @@ PERF_TEST_P( stitch, a123, testing::Values("surf", "orb"))
Stitcher stitcher = Stitcher::createDefault();
stitcher.setFeaturesFinder(featuresFinder);
stitcher.setFeaturesMatcher(featuresMatcher);
stitcher.setWarper(new CylindricalWarper());
stitcher.setRegistrationResol(WORK_MEGAPIX);
startTimer();
status = stitcher.stitch(imgs, pano);
@@ -54,8 +62,8 @@ PERF_TEST_P( stitch, b12, testing::Values("surf", "orb"))
: (detail::FeaturesFinder*)new detail::SurfFeaturesFinder();
Ptr<detail::FeaturesMatcher> featuresMatcher = GetParam() == "orb"
? new detail::BestOf2NearestMatcher(false, 0.3f)
: new detail::BestOf2NearestMatcher(false, 0.65f);
? new detail::BestOf2NearestMatcher(false, ORB_MATCH_CONFIDENCE)
: new detail::BestOf2NearestMatcher(false, SURF_MATCH_CONFIDENCE);
declare.time(30 * 20).iterations(50);
@@ -64,9 +72,56 @@ PERF_TEST_P( stitch, b12, testing::Values("surf", "orb"))
Stitcher stitcher = Stitcher::createDefault();
stitcher.setFeaturesFinder(featuresFinder);
stitcher.setFeaturesMatcher(featuresMatcher);
stitcher.setWarper(new CylindricalWarper());
stitcher.setRegistrationResol(WORK_MEGAPIX);
startTimer();
status = stitcher.stitch(imgs, pano);
stopTimer();
}
}
PERF_TEST_P( match, bestOf2Nearest, testing::Values("surf", "orb"))
{
Mat img1, img1_full = imread( getDataPath("stitching/b1.jpg") );
Mat img2, img2_full = imread( getDataPath("stitching/b2.jpg") );
float scale1 = std::min(1.0, sqrt(WORK_MEGAPIX * 1e6 / img1_full.total()));
float scale2 = std::min(1.0, sqrt(WORK_MEGAPIX * 1e6 / img2_full.total()));
resize(img1_full, img1, Size(), scale1, scale1);
resize(img2_full, img2, Size(), scale2, scale2);
Ptr<detail::FeaturesFinder> finder;
Ptr<detail::FeaturesMatcher> matcher;
if (GetParam() == "surf")
{
finder = new detail::SurfFeaturesFinder();
matcher = new detail::BestOf2NearestMatcher(false, SURF_MATCH_CONFIDENCE);
}
else if (GetParam() == "orb")
{
finder = new detail::OrbFeaturesFinder();
matcher = new detail::BestOf2NearestMatcher(false, ORB_MATCH_CONFIDENCE);
}
else
{
FAIL() << "Unknown 2D features type: " << GetParam();
}
detail::ImageFeatures features1, features2;
(*finder)(img1, features1);
(*finder)(img2, features2);
detail::MatchesInfo pairwise_matches;
declare.in(features1.descriptors, features2.descriptors)
.iterations(100);
while(next())
{
cvflann::seed_random(42);//for predictive FlannBasedMatcher
startTimer();
(*matcher)(features1, features2, pairwise_matches);
stopTimer();
matcher->collectGarbage();
}
}