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Added support for OpenCV 3 CUDA ORB feature extractor and descriptor (#296)

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* added cuda support for orb with OpenCV 3

* added support for OpenCV 3 CUDA ORB feature detector and descriptor
This commit is contained in:
Nicolai Behmann
2018-07-11 18:33:31 +02:00
committed by matlabbe
parent ccdde45323
commit 281452434c
2 changed files with 29 additions and 8 deletions
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36
corelib/src/Features2d.cpp
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@@ -923,11 +923,11 @@ void ORB::parseParameters(const ParametersMap & parameters)
gpu_ = false;
}
#endif
if(gpu_)
if(gpu_ && cv::cuda::getCudaEnabledDeviceCount() == 0)
{
UWARN("GPU version of ORB available but not implemented yet! Using CPU version instead...");
UWARN("GPU version of ORB not available (no GPU found)! Using CPU version instead...");
gpu_ = false;
}
gpu_ = false;
#endif
if(gpu_)
{
@@ -940,7 +940,7 @@ void ORB::parseParameters(const ParametersMap & parameters)
#endif
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
UFATAL("not implemented");
_gpuOrb = CV_ORB_GPU::create(this->getMaxFeatures(), scaleFactor_, nLevels_, edgeThreshold_, firstLevel_, WTA_K_, scoreType_, patchSize_, fastThreshold_);
#endif
#endif
}
@@ -977,7 +977,14 @@ std::vector<cv::KeyPoint> ORB::generateKeypointsImpl(const cv::Mat & image, cons
#endif
#else
#ifdef HAVE_OPENCV_CUDAFEATURES2D
UFATAL("not implemented");
cv::cuda::GpuMat d_image(imgRoi);
cv::cuda::GpuMat d_mask(maskRoi);
try {
_gpuOrb->detectAndCompute(d_image, d_mask, keypoints, cv::cuda::GpuMat(), false);
} catch (cv::Exception& e) {
const char* err_msg = e.what();
UWARN("OpenCV exception caught: %s", err_msg);
}
#endif
#endif
}
@@ -1018,10 +1025,23 @@ cv::Mat ORB::generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyP
UERROR("GPU version of ORB not available (OpenCV not built with gpu/cuda module)! Using CPU version instead...");
#endif
#else
cv::cuda::GpuMat imgGpu(image);
cv::cuda::GpuMat descriptorsGPU;
#ifdef HAVE_OPENCV_CUDAFEATURES2D
UFATAL("not implemented");
cv::cuda::GpuMat d_image(image);
cv::cuda::GpuMat d_descriptors;
try {
_gpuOrb->detectAndCompute(d_image, cv::cuda::GpuMat(), keypoints, d_descriptors, true);
} catch (cv::Exception& e) {
const char* err_msg = e.what();
UWARN("OpenCV exception caught: %s", err_msg);
}
// Download descriptors
if (d_descriptors.empty())
descriptors = cv::Mat();
else
{
UASSERT(d_descriptors.type() == CV_32F || d_descriptors.type() == CV_8U);
d_descriptors.download(descriptors);
}
#endif
#endif
}