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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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1
modules/stitching/CMakeLists.txt
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@ -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()

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();
}
}

9
modules/stitching/src/matchers.cpp
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@ -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();

11
modules/stitching/src/precomp.hpp
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@ -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