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Merge remote-tracking branch 'origin/2.4' into merge-2.4

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Conflicts:
	modules/calib3d/include/opencv2/calib3d/calib3d.hpp
	modules/core/include/opencv2/core/core.hpp
	modules/core/include/opencv2/core/cuda/limits.hpp
	modules/core/include/opencv2/core/internal.hpp
	modules/core/src/matrix.cpp
	modules/nonfree/test/test_features2d.cpp
	modules/ocl/include/opencv2/ocl/ocl.hpp
	modules/ocl/src/hog.cpp
	modules/ocl/test/test_haar.cpp
	modules/ocl/test/test_objdetect.cpp
	modules/ocl/test/test_pyrup.cpp
	modules/ts/src/precomp.hpp
	samples/ocl/facedetect.cpp
	samples/ocl/hog.cpp
	samples/ocl/pyrlk_optical_flow.cpp
	samples/ocl/surf_matcher.cpp
This commit is contained in:
Roman Donchenko
2013-06-25 14:08:23 +04:00
parent eff6dccb3b 3bab7391d0
commit f36f8067bc
46 changed files with 2669 additions and 1813 deletions
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175
samples/ocl/surf_matcher.cpp
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@@ -1,48 +1,3 @@
/*M///////////////////////////////////////////////////////////////////////////////////////
//
// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
//
// By downloading, copying, installing or using the software you agree to this license.
// If you do not agree to this license, do not download, install,
// copy or use the software.
//
//
// License Agreement
// For Open Source Computer Vision Library
//
// Copyright (C) 2010-2012, Multicoreware, Inc., all rights reserved.
// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
// Third party copyrights are property of their respective owners.
//
// @Authors
// Peng Xiao, pengxiao@multicorewareinc.com
//
// Redistribution and use in source and binary forms, with or without modification,
// are permitted provided that the following conditions are met:
//
// * Redistribution's of source code must retain the above copyright notice,
// this list of conditions and the following disclaimer.
//
// * Redistribution's in binary form must reproduce the above copyright notice,
// this list of conditions and the following disclaimer in the documentation
// and/or other oclMaterials provided with the distribution.
//
// * The name of the copyright holders may not be used to endorse or promote products
// derived from this software without specific prior written permission.
//
// This software is provided by the copyright holders and contributors as is and
// any express or implied warranties, including, but not limited to, the implied
// warranties of merchantability and fitness for a particular purpose are disclaimed.
// In no event shall the Intel Corporation or contributors be liable for any direct,
// indirect, incidental, special, exemplary, or consequential damages
// (including, but not limited to, procurement of substitute goods or services;
// loss of use, data, or profits; or business interruption) however caused
// and on any theory of liability, whether in contract, strict liability,
// or tort (including negligence or otherwise) arising in any way out of
// the use of this software, even if advised of the possibility of such damage.
//
//M*/
#include <iostream>
#include <stdio.h>
#include "opencv2/core/core.hpp"
@@ -62,14 +17,6 @@ const float GOOD_PORTION = 0.15f;
namespace
{
void help();
void help()
{
std::cout << "\nThis program demonstrates using SURF_OCL features detector and descriptor extractor" << std::endl;
std::cout << "\nUsage:\n\tsurf_matcher --left <image1> --right <image2> [-c]" << std::endl;
std::cout << "\nExample:\n\tsurf_matcher --left box.png --right box_in_scene.png" << std::endl;
}
int64 work_begin = 0;
int64 work_end = 0;
@@ -82,7 +29,8 @@ void workEnd()
{
work_end = getTickCount() - work_begin;
}
double getTime(){
double getTime()
{
return work_end /((double)getTickFrequency() * 1000.);
}
@@ -125,7 +73,7 @@ Mat drawGoodMatches(
std::sort(matches.begin(), matches.end());
std::vector< DMatch > good_matches;
double minDist = matches.front().distance,
maxDist = matches.back().distance;
maxDist = matches.back().distance;
const int ptsPairs = std::min(GOOD_PTS_MAX, (int)(matches.size() * GOOD_PORTION));
for( int i = 0; i < ptsPairs; i++ )
@@ -140,8 +88,8 @@ Mat drawGoodMatches(
// drawing the results
Mat img_matches;
drawMatches( cpu_img1, keypoints1, cpu_img2, keypoints2,
good_matches, img_matches, Scalar::all(-1), Scalar::all(-1),
std::vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
good_matches, img_matches, Scalar::all(-1), Scalar::all(-1),
std::vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS );
//-- Localize the object
std::vector<Point2f> obj;
@@ -155,8 +103,10 @@ Mat drawGoodMatches(
}
//-- Get the corners from the image_1 ( the object to be "detected" )
std::vector<Point2f> obj_corners(4);
obj_corners[0] = Point(0,0); obj_corners[1] = Point( cpu_img1.cols, 0 );
obj_corners[2] = Point( cpu_img1.cols, cpu_img1.rows ); obj_corners[3] = Point( 0, cpu_img1.rows );
obj_corners[0] = Point(0,0);
obj_corners[1] = Point( cpu_img1.cols, 0 );
obj_corners[2] = Point( cpu_img1.cols, cpu_img1.rows );
obj_corners[3] = Point( 0, cpu_img1.rows );
std::vector<Point2f> scene_corners(4);
Mat H = findHomography( obj, scene, RANSAC );
@@ -166,17 +116,17 @@ Mat drawGoodMatches(
//-- Draw lines between the corners (the mapped object in the scene - image_2 )
line( img_matches,
scene_corners[0] + Point2f( (float)cpu_img1.cols, 0), scene_corners[1] + Point2f( (float)cpu_img1.cols, 0),
Scalar( 0, 255, 0), 2, LINE_AA );
scene_corners[0] + Point2f( (float)cpu_img1.cols, 0), scene_corners[1] + Point2f( (float)cpu_img1.cols, 0),
Scalar( 0, 255, 0), 2, LINE_AA );
line( img_matches,
scene_corners[1] + Point2f( (float)cpu_img1.cols, 0), scene_corners[2] + Point2f( (float)cpu_img1.cols, 0),
Scalar( 0, 255, 0), 2, LINE_AA );
scene_corners[1] + Point2f( (float)cpu_img1.cols, 0), scene_corners[2] + Point2f( (float)cpu_img1.cols, 0),
Scalar( 0, 255, 0), 2, LINE_AA );
line( img_matches,
scene_corners[2] + Point2f( (float)cpu_img1.cols, 0), scene_corners[3] + Point2f( (float)cpu_img1.cols, 0),
Scalar( 0, 255, 0), 2, LINE_AA );
scene_corners[2] + Point2f( (float)cpu_img1.cols, 0), scene_corners[3] + Point2f( (float)cpu_img1.cols, 0),
Scalar( 0, 255, 0), 2, LINE_AA );
line( img_matches,
scene_corners[3] + Point2f( (float)cpu_img1.cols, 0), scene_corners[0] + Point2f( (float)cpu_img1.cols, 0),
Scalar( 0, 255, 0), 2, LINE_AA );
scene_corners[3] + Point2f( (float)cpu_img1.cols, 0), scene_corners[0] + Point2f( (float)cpu_img1.cols, 0),
Scalar( 0, 255, 0), 2, LINE_AA );
return img_matches;
}
@@ -186,6 +136,21 @@ Mat drawGoodMatches(
// use cpu findHomography interface to calculate the transformation matrix
int main(int argc, char* argv[])
{
const char* keys =
"{ help h | false | print help message }"
"{ left l | | specify left image }"
"{ right r | | specify right image }"
"{ output o | SURF_output.jpg | specify output save path (only works in CPU or GPU only mode) }"
"{ use_cpu c | false | use CPU algorithms }"
"{ use_all a | false | use both CPU and GPU algorithms}";
CommandLineParser cmd(argc, argv, keys);
if (cmd.get<bool>("help"))
{
std::cout << "Avaible options:" << std::endl;
cmd.printMessage();
return 0;
}
std::vector<cv::ocl::Info> info;
if(cv::ocl::getDevice(info) == 0)
{
@@ -196,54 +161,38 @@ int main(int argc, char* argv[])
Mat cpu_img1, cpu_img2, cpu_img1_grey, cpu_img2_grey;
oclMat img1, img2;
bool useCPU = false;
bool useCPU = cmd.get<bool>("c");
bool useGPU = false;
bool useALL = false;
bool useALL = cmd.get<bool>("a");
for (int i = 1; i < argc; ++i)
std::string outpath = cmd.get<std::string>("o");
cpu_img1 = imread(cmd.get<std::string>("l"));
CV_Assert(!cpu_img1.empty());
cvtColor(cpu_img1, cpu_img1_grey, COLOR_BGR2GRAY);
img1 = cpu_img1_grey;
cpu_img2 = imread(cmd.get<std::string>("r"));
CV_Assert(!cpu_img2.empty());
cvtColor(cpu_img2, cpu_img2_grey, COLOR_BGR2GRAY);
img2 = cpu_img2_grey;
if(useALL)
{
if (String(argv[i]) == "--left")
{
cpu_img1 = imread(argv[++i]);
CV_Assert(!cpu_img1.empty());
cvtColor(cpu_img1, cpu_img1_grey, COLOR_BGR2GRAY);
img1 = cpu_img1_grey;
}
else if (String(argv[i]) == "--right")
{
cpu_img2 = imread(argv[++i]);
CV_Assert(!cpu_img2.empty());
cvtColor(cpu_img2, cpu_img2_grey, COLOR_BGR2GRAY);
img2 = cpu_img2_grey;
}
else if (String(argv[i]) == "-c")
{
useCPU = true;
useGPU = false;
useALL = false;
}else if(String(argv[i]) == "-g")
{
useGPU = true;
useCPU = false;
useALL = false;
}else if(String(argv[i]) == "-a")
{
useALL = true;
useCPU = false;
useGPU = false;
}
else if (String(argv[i]) == "--help")
{
help();
return -1;
}
useCPU = false;
useGPU = false;
}
else if(useCPU==false && useALL==false)
{
useGPU = true;
}
if(!useCPU)
{
std::cout
<< "Device name:"
<< info[0].DeviceName[0]
<< std::endl;
<< "Device name:"
<< info[0].DeviceName[0]
<< std::endl;
}
double surf_time = 0.;
@@ -299,7 +248,8 @@ int main(int argc, char* argv[])
surf_time = getTime();
std::cout << "SURF run time: " << surf_time / LOOP_NUM << " ms" << std::endl<<"\n";
}else
}
else
{
//cpu runs
for (int i = 0; i <= LOOP_NUM; i++)
@@ -354,7 +304,7 @@ int main(int argc, char* argv[])
for(size_t i = 0; i < cpu_corner.size(); i++)
{
if((std::abs(cpu_corner[i].x - gpu_corner[i].x) > 10)
||(std::abs(cpu_corner[i].y - gpu_corner[i].y) > 10))
||(std::abs(cpu_corner[i].y - gpu_corner[i].y) > 10))
{
std::cout<<"Failed\n";
result = false;
@@ -372,12 +322,15 @@ int main(int argc, char* argv[])
{
namedWindow("cpu surf matches", 0);
imshow("cpu surf matches", img_matches);
imwrite(outpath, img_matches);
}
else if(useGPU)
{
namedWindow("ocl surf matches", 0);
imshow("ocl surf matches", img_matches);
}else
imwrite(outpath, img_matches);
}
else
{
namedWindow("cpu surf matches", 0);
imshow("cpu surf matches", img_matches);