int main(){
GpuMat img1, img2(imread("/home/lixiao/pgm/cv/130526cv/2.png",IMREAD_GRAYSCALE));
Mat rst=imread("/home/lixiao/pgm/cv/130526cv/1.png",IMREAD_GRAYSCALE);
img1.upload(rst);
SURF_GPU surf;
GpuMat keypoints1GPU, keypoints2GPU;
GpuMat descriptors1GPU, descriptors2GPU;
surf(img1, GpuMat(), keypoints1GPU, descriptors1GPU);
timeval start,finish;
gettimeofday(&start,NULL);
surf(img2, GpuMat(), keypoints2GPU, descriptors2GPU);
gettimeofday(&finish,NULL);
std::cout<<(1000000*(finish.tv_sec - start.tv_sec) + finish.tv_usec - start.tv_usec)<<std::endl;
BFMatcher_GPU matcher(NORM_L2);
GpuMat trainIdx, distance;
gettimeofday(&start,NULL);
matcher.matchSingle(descriptors1GPU, descriptors2GPU, trainIdx, distance);
gettimeofday(&finish,NULL);
std::cout<<(1000000*(finish.tv_sec - start.tv_sec) + finish.tv_usec - start.tv_usec)<<std::endl;
vector<KeyPoint> keypoints1, keypoints2;
vector<float> descriptors1, descriptors2;
vector<DMatch> matches;
gettimeofday(&start,NULL);
surf.downloadKeypoints(keypoints1GPU, keypoints1);
surf.downloadKeypoints(keypoints2GPU, keypoints2);
surf.downloadDescriptors(descriptors1GPU, descriptors1);
surf.downloadDescriptors(descriptors2GPU, descriptors2);
BFMatcher_GPU::matchDownload(trainIdx, distance, matches);
gettimeofday(&finish,NULL);
std::cout<<(1000000*(finish.tv_sec - start.tv_sec) + finish.tv_usec - start.tv_usec)<<std::endl;
// drawing the results
Mat img_matches;
drawMatches(Mat(img1), keypoints1, Mat(img2), keypoints2, matches, img_matches);
imshow("hh",img_matches);
waitKey(0);
}
matches im_utility::diff(const std::string &im_file1, const std::string &im_file2, const parameters ¶ms, key_points *im1_kps, key_points *im2_kps)
{
using namespace cv;
matches mt;
std::vector<KeyPoint> im1_key_points, im2_key_points;
std::vector<DMatch> matches;
std::vector<DMatch> good_matches;
double min_hessian = 400.0;
if (params.find(key_hessian_threshold) != params.end()) min_hessian = params.at(key_hessian_threshold);
double sigma = 2.0;
if (params.find(key_match_threshold) != params.end()) sigma = params.at(key_match_threshold);
int speedup = speedup_default;
if (params.find(key_speedup) != params.end())
speedup = params.at(key_speedup);
//auto info = getBuildInformation();
if (speedup == speedup_use_cuda)
{
using namespace gpu;
DeviceInfo dev;
auto name = dev.name();
GpuMat img1, img2;
// upload data
img1.upload(imread(im_file1, CV_LOAD_IMAGE_GRAYSCALE));
img2.upload(imread(im_file2, CV_LOAD_IMAGE_GRAYSCALE));
// detect keypoints & computing descriptors
SURF_GPU surf;
GpuMat kps_gpu1, kps_gpu2;
GpuMat desc_gpu1, desc_gpu2;
surf(img1, GpuMat(), kps_gpu1, desc_gpu1);
surf(img2, GpuMat(), kps_gpu2, desc_gpu2);
// matching descriptors
BFMatcher_GPU matcher_gpu(NORM_L2);
GpuMat trainIdx, distance;
matcher_gpu.matchSingle(desc_gpu1, desc_gpu2, trainIdx, distance);
// download results
std::vector<float> desc1, desc2;
surf.downloadKeypoints(kps_gpu1, im1_key_points);
surf.downloadKeypoints(kps_gpu2, im2_key_points);
surf.downloadDescriptors(desc_gpu1, desc1);
surf.downloadDescriptors(desc_gpu2, desc2);
BFMatcher_GPU::matchDownload(trainIdx, distance, matches);
good_matches = matches;
}
else if (speedup == speedup_use_ocl)
{
using namespace ocl;
DevicesInfo devs;
getOpenCLDevices(devs, CVCL_DEVICE_TYPE_GPU);
int dev = 0;
if (params.find(key_ocl_dev) != params.end())
dev = params.at(key_ocl_dev);
if (dev < 0 || dev >= devs.size()) dev = 0;
setDevice(devs[dev]);
SURF_OCL surf(800.0);
BFMatcher_OCL matcher(NORM_L2);
oclMat desc1, desc2;
oclMat im1, im2;
im1 = imread(im_file1, CV_LOAD_IMAGE_GRAYSCALE);
im2 = imread(im_file2, CV_LOAD_IMAGE_GRAYSCALE);
surf(im1, oclMat(), im1_key_points, desc1);
surf(im2, oclMat(), im2_key_points, desc2);
matcher.match(desc1, desc2, matches);
double max_dist = 0;
double min_dist = 100;
for (int i = 0; i < desc1.rows; i++)
{
double dist = matches[i].distance;
if (dist < min_dist) min_dist = dist;
if (dist > max_dist) max_dist = dist;
}
for (int i = 0; i < desc1.rows; i++)
{
if (matches[i].distance <= max(sigma * min_dist, 0.02))
{
good_matches.push_back(matches[i]);
}
}
}
else
{
auto get_file_desc = [](const std::string &filename, double min_hessian, std::vector<cv::KeyPoint> *out_key_points)
{
using namespace cv;
Mat desc;
Mat img = imread(filename, CV_LOAD_IMAGE_GRAYSCALE);
if (!img.data) return desc;
SurfFeatureDetector detecter(min_hessian);
std::vector<KeyPoint> key_points;
detecter.detect(img, key_points);
if (out_key_points) *out_key_points = key_points;
if (key_points.empty())
{
std::cout << "no feature detected: " << filename << std::endl;
return desc;
}
SurfDescriptorExtractor extractor;
extractor.compute(img, key_points, desc);
return desc;
};
auto im1_desc = get_file_desc(im_file1, min_hessian, &im1_key_points);
auto im2_desc = get_file_desc(im_file2, min_hessian, &im2_key_points);
FlannBasedMatcher matcher;
matcher.match(im1_desc, im2_desc, matches);
double max_dist = 0;
double min_dist = 100;
for (int i = 0; i < im1_desc.rows; i++)
{
double dist = matches[i].distance;
if (dist < min_dist) min_dist = dist;
if (dist > max_dist) max_dist = dist;
}
for (int i = 0; i < im1_desc.rows; i++)
{
if (matches[i].distance <= max(sigma * min_dist, 0.02))
{
good_matches.push_back(matches[i]);
}
}
}
auto conv_keypoint = [](const std::vector<KeyPoint> &kps)
{
key_points out;
std::transform(kps.begin(), kps.end(), std::back_inserter(out), [](const KeyPoint &kp){
//return key_point{ kp.pt.x, kp.pt.y, kp.size, kp.angle };
key_point p;
p.x = kp.pt.x;
p.y = kp.pt.y;
p.size = kp.size;
p.angle = kp.angle;
return p;
});
return out;
};
auto kps1 = conv_keypoint(im1_key_points);
auto kps2 = conv_keypoint(im2_key_points);
if (im1_kps)
*im1_kps = kps1;
if (im2_kps)
*im2_kps = kps2;
std::transform(good_matches.begin(), good_matches.end(), std::back_inserter(mt), [&](const DMatch &m)
{
//return match{ kps1[m.queryIdx] , kps2[m.trainIdx] , m.distance };
match ma;
ma.pt1 = kps1[m.queryIdx];
ma.pt2 = kps2[m.trainIdx];
ma.distance = m.distance;
return ma;
});
return mt;
}
int main(int argc, char* argv[])
{
if (argc != 5)
{
help();
return -1;
}
GpuMat img1, img2;
for (int i = 1; i < argc; ++i)
{
if (string(argv[i]) == "--left")
{
img1.upload(imread(argv[++i], CV_LOAD_IMAGE_GRAYSCALE));
CV_Assert(!img1.empty());
}
else if (string(argv[i]) == "--right")
{
img2.upload(imread(argv[++i], CV_LOAD_IMAGE_GRAYSCALE));
CV_Assert(!img2.empty());
}
else if (string(argv[i]) == "--help")
{
help();
return -1;
}
}
cv::gpu::printShortCudaDeviceInfo(cv::gpu::getDevice());
SURF_GPU surf;
// detecting keypoints & computing descriptors
GpuMat keypoints1GPU, keypoints2GPU;
GpuMat descriptors1GPU, descriptors2GPU;
surf(img1, GpuMat(), keypoints1GPU, descriptors1GPU);
surf(img2, GpuMat(), keypoints2GPU, descriptors2GPU);
cout << "FOUND " << keypoints1GPU.cols << " keypoints on first image" << endl;
cout << "FOUND " << keypoints2GPU.cols << " keypoints on second image" << endl;
// matching descriptors
BruteForceMatcher_GPU< L2<float> > matcher;
GpuMat trainIdx, distance;
matcher.matchSingle(descriptors1GPU, descriptors2GPU, trainIdx, distance);
// downloading results
vector<KeyPoint> keypoints1, keypoints2;
vector<float> descriptors1, descriptors2;
vector<DMatch> matches;
surf.downloadKeypoints(keypoints1GPU, keypoints1);
surf.downloadKeypoints(keypoints2GPU, keypoints2);
surf.downloadDescriptors(descriptors1GPU, descriptors1);
surf.downloadDescriptors(descriptors2GPU, descriptors2);
BruteForceMatcher_GPU< L2<float> >::matchDownload(trainIdx, distance, matches);
// drawing the results
Mat img_matches;
drawMatches(Mat(img1), keypoints1, Mat(img2), keypoints2, matches, img_matches);
namedWindow("matches", 0);
imshow("matches", img_matches);
waitKey(0);
return 0;
}
