void computeDescriptors( const cv::Mat& image,
std::vector<cv::KeyPoint>& keypoints,
cv::Mat& descriptors)
{
std::vector<float> d;
cv::gpu::GpuMat imgGpu(image);
cv::gpu::GpuMat descriptorsGPU;
try
{
orb_(imgGpu, cv::gpu::GpuMat(), keypoints, descriptorsGPU); // No option to use provided keypoints!?
}
catch(cv::Exception &e)
{
UERROR("GPUORB error: %s \n(If something about matrix size, the image/object may be too small (%d,%d).)",
e.msg.c_str(),
image.cols,
image.rows);
}
// Download descriptors
if (descriptorsGPU.empty())
descriptors = cv::Mat();
else
{
Q_ASSERT(descriptorsGPU.type() == CV_8U);
descriptors = cv::Mat(descriptorsGPU.size(), CV_8U);
descriptorsGPU.download(descriptors);
}
}
void detectKeypoints(const cv::Mat & image,
std::vector<cv::KeyPoint> & keypoints,
const cv::Mat & mask = cv::Mat())
{
cv::gpu::GpuMat imgGpu(image);
cv::gpu::GpuMat maskGpu(mask);
try
{
orb_(imgGpu, maskGpu, keypoints);
}
catch(cv::Exception &e)
{
UERROR("GPUORB error: %s \n(If something about matrix size, the image/object may be too small (%d,%d).)",
e.msg.c_str(),
image.cols,
image.rows);
}
}
void OrbDescriptorExtractor::computeImpl(const cv::Mat& image, std::vector<cv::KeyPoint>& keypoints,
cv::Mat& descriptors) const
{
cv::Mat empty_mask;
orb_(image, empty_mask, keypoints, descriptors, true);
}
