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
{
surf_(imgGpu, cv::gpu::GpuMat(), keypoints, descriptorsGPU, true);
}
catch(cv::Exception &e)
{
UERROR("GPUSURF error: %s \n(If something about layer_rows, parameter nOctaves=%d of SURF "
"is too high for the size of the image (%d,%d).)",
e.msg.c_str(),
surf_.nOctaves,
image.cols,
image.rows);
}
// Download descriptors
if (descriptorsGPU.empty())
descriptors = cv::Mat();
else
{
Q_ASSERT(descriptorsGPU.type() == CV_32F);
descriptors = cv::Mat(descriptorsGPU.size(), CV_32F);
descriptorsGPU.download(descriptors);
}
}
void SurfFeaturesFinderGpu::find(const Mat &image, ImageFeatures &features)
{
CV_Assert(image.depth() == CV_8U);
ensureSizeIsEnough(image.size(), image.type(), image_);
image_.upload(image);
ensureSizeIsEnough(image.size(), CV_8UC1, gray_image_);
cvtColor(image_, gray_image_, CV_BGR2GRAY);
surf_.nOctaves = num_octaves_;
surf_.nOctaveLayers = num_layers_;
surf_.upright = false;
surf_(gray_image_, GpuMat(), keypoints_);
surf_.nOctaves = num_octaves_descr_;
surf_.nOctaveLayers = num_layers_descr_;
surf_.upright = true;
surf_(gray_image_, GpuMat(), keypoints_, descriptors_, true);
surf_.downloadKeypoints(keypoints_, features.keypoints);
descriptors_.download(features.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
{
surf_(imgGpu, maskGpu, keypoints);
}
catch(cv::Exception &e)
{
UERROR("GPUSURF error: %s \n(If something about layer_rows, parameter nOctaves=%d of SURF "
"is too high for the size of the image (%d,%d).)",
e.msg.c_str(),
surf_.nOctaves,
image.cols,
image.rows);
}
}
