Tegra-optimized features matching for Stitching

modules/stitching/CMakeLists.txt

@@ -1,4 +1,3 @@
-include_directories("${OpenCV_SOURCE_DIR}/modules/imgproc/src") # For gcgraph.hpp
 if(ANDROID)
     define_opencv_module(stitching opencv_core opencv_imgproc opencv_features2d opencv_calib3d opencv_flann opencv_objdetect)
 else()

modules/stitching/perf/perf_stich.cpp

@@ -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, ORB_MATCH_CONFIDENCE)
-            : new detail::BestOf2NearestMatcher(false, 0.65f);
+            : 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, ORB_MATCH_CONFIDENCE)
-            : new detail::BestOf2NearestMatcher(false, 0.65f);
+            : 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();
+    }
+}

modules/stitching/src/matchers.cpp

@@ -147,11 +147,16 @@ private:
 
 void CpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info)
 {
-    matches_info.matches.clear();
-
     CV_Assert(features1.descriptors.type() == features2.descriptors.type());
     CV_Assert(features2.descriptors.depth() == CV_8U || features2.descriptors.depth() == CV_32F);
 
+#ifdef HAVE_TEGRA_OPTIMIZATION
+    if (tegra::match2nearest(features1, features2, matches_info, match_conf_))
+        return;
+#endif
+
+    matches_info.matches.clear();
+
     Ptr<flann::IndexParams> indexParams = new flann::KDTreeIndexParams();
     Ptr<flann::SearchParams> searchParams = new flann::SearchParams();
 

modules/stitching/src/precomp.hpp

@@ -54,6 +54,8 @@
 #include <functional>
 #include <sstream>
 #include <cmath>
+#include "opencv2/core/core.hpp"
+#include "opencv2/core/internal.hpp"
 #include "opencv2/stitching/stitcher.hpp"
 #include "opencv2/stitching/detail/autocalib.hpp"
 #include "opencv2/stitching/detail/blenders.hpp"
@@ -64,14 +66,17 @@
 #include "opencv2/stitching/detail/seam_finders.hpp"
 #include "opencv2/stitching/detail/util.hpp"
 #include "opencv2/stitching/detail/warpers.hpp"
-#include "opencv2/core/core.hpp"
-#include "opencv2/core/internal.hpp"
 #include "opencv2/imgproc/imgproc.hpp"
 #include "opencv2/features2d/features2d.hpp"
 #include "opencv2/calib3d/calib3d.hpp"
 #ifndef ANDROID
 # include "opencv2/gpu/gpu.hpp"
 #endif
-#include "gcgraph.hpp"
+
+#include "modules/imgproc/src/gcgraph.hpp"
+
+#ifdef HAVE_TEGRA_OPTIMIZATION
+# include "opencv2/stitching/stitching_tegra.hpp"
+#endif
 
 #endif