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#include "precomp.hpp"
using namespace cv;
using namespace cv::cuda;
#if !defined (HAVE_CUDA) || defined (CUDA_DISABLER)
Ptr<cv::cuda::ORB> cv::cuda::ORB::create(int, float, int, int, int, int, int, int, int, bool) { throw_no_cuda(); return Ptr<cv::cuda::ORB>(); }
#else /* !defined (HAVE_CUDA) */
namespace cv { namespace cuda { namespace device
{
namespace orb
{
int cull_gpu(int* loc, float* response, int size, int n_points);
void HarrisResponses_gpu(PtrStepSzb img, const short2* loc, float* response, const int npoints, int blockSize, float harris_k, cudaStream_t stream);
void loadUMax(const int* u_max, int count);
void IC_Angle_gpu(PtrStepSzb image, const short2* loc, float* angle, int npoints, int half_k, cudaStream_t stream);
void computeOrbDescriptor_gpu(PtrStepb img, const short2* loc, const float* angle, const int npoints,
const int* pattern_x, const int* pattern_y, PtrStepb desc, int dsize, int WTA_K, cudaStream_t stream);
void mergeLocation_gpu(const short2* loc, float* x, float* y, int npoints, float scale, cudaStream_t stream);
}
}}}
namespace
{
const float HARRIS_K = 0.04f;
const int DESCRIPTOR_SIZE = 32;
const int bit_pattern_31_[256 * 4] =
{
8,-3, 9,5/*mean (0), correlation (0)*/,
4,2, 7,-12/*mean (1.12461e-05), correlation (0.0437584)*/,
-11,9, -8,2/*mean (3.37382e-05), correlation (0.0617409)*/,
7,-12, 12,-13/*mean (5.62303e-05), correlation (0.0636977)*/,
2,-13, 2,12/*mean (0.000134953), correlation (0.085099)*/,
1,-7, 1,6/*mean (0.000528565), correlation (0.0857175)*/,
-2,-10, -2,-4/*mean (0.0188821), correlation (0.0985774)*/,
-13,-13, -11,-8/*mean (0.0363135), correlation (0.0899616)*/,
-13,-3, -12,-9/*mean (0.121806), correlation (0.099849)*/,
10,4, 11,9/*mean (0.122065), correlation (0.093285)*/,
-13,-8, -8,-9/*mean (0.162787), correlation (0.0942748)*/,
-11,7, -9,12/*mean (0.21561), correlation (0.0974438)*/,
7,7, 12,6/*mean (0.160583), correlation (0.130064)*/,
-4,-5, -3,0/*mean (0.228171), correlation (0.132998)*/,
-13,2, -12,-3/*mean (0.00997526), correlation (0.145926)*/,
-9,0, -7,5/*mean (0.198234), correlation (0.143636)*/,
12,-6, 12,-1/*mean (0.0676226), correlation (0.16689)*/,
-3,6, -2,12/*mean (0.166847), correlation (0.171682)*/,
-6,-13, -4,-8/*mean (0.101215), correlation (0.179716)*/,
11,-13, 12,-8/*mean (0.200641), correlation (0.192279)*/,
4,7, 5,1/*mean (0.205106), correlation (0.186848)*/,
5,-3, 10,-3/*mean (0.234908), correlation (0.192319)*/,
3,-7, 6,12/*mean (0.0709964), correlation (0.210872)*/,
-8,-7, -6,-2/*mean (0.0939834), correlation (0.212589)*/,
-2,11, -1,-10/*mean (0.127778), correlation (0.20866)*/,
-13,12, -8,10/*mean (0.14783), correlation (0.206356)*/,
-7,3, -5,-3/*mean (0.182141), correlation (0.198942)*/,
-4,2, -3,7/*mean (0.188237), correlation (0.21384)*/,
-10,-12, -6,11/*mean (0.14865), correlation (0.23571)*/,
5,-12, 6,-7/*mean (0.222312), correlation (0.23324)*/,
5,-6, 7,-1/*mean (0.229082), correlation (0.23389)*/,
1,0, 4,-5/*mean (0.241577), correlation (0.215286)*/,
9,11, 11,-13/*mean (0.00338507), correlation (0.251373)*/,
4,7, 4,12/*mean (0.131005), correlation (0.257622)*/,
2,-1, 4,4/*mean (0.152755), correlation (0.255205)*/,
-4,-12, -2,7/*mean (0.182771), correlation (0.244867)*/,
-8,-5, -7,-10/*mean (0.186898), correlation (0.23901)*/,
4,11, 9,12/*mean (0.226226), correlation (0.258255)*/,
0,-8, 1,-13/*mean (0.0897886), correlation (0.274827)*/,
-13,-2, -8,2/*mean (0.148774), correlation (0.28065)*/,
-3,-2, -2,3/*mean (0.153048), correlation (0.283063)*/,
-6,9, -4,-9/*mean (0.169523), correlation (0.278248)*/,
8,12, 10,7/*mean (0.225337), correlation (0.282851)*/,
0,9, 1,3/*mean (0.226687), correlation (0.278734)*/,
7,-5, 11,-10/*mean (0.00693882), correlation (0.305161)*/,
-13,-6, -11,0/*mean (0.0227283), correlation (0.300181)*/,
10,7, 12,1/*mean (0.125517), correlation (0.31089)*/,
-6,-3, -6,12/*mean (0.131748), correlation (0.312779)*/,
10,-9, 12,-4/*mean (0.144827), correlation (0.292797)*/,
-13,8, -8,-12/*mean (0.149202), correlation (0.308918)*/,
-13,0, -8,-4/*mean (0.160909), correlation (0.310013)*/,
3,3, 7,8/*mean (0.177755), correlation (0.309394)*/,
5,7, 10,-7/*mean (0.212337), correlation (0.310315)*/,
-1,7, 1,-12/*mean (0.214429), correlation (0.311933)*/,
3,-10, 5,6/*mean (0.235807), correlation (0.313104)*/,
2,-4, 3,-10/*mean (0.00494827), correlation (0.344948)*/,
-13,0, -13,5/*mean (0.0549145), correlation (0.344675)*/,
-13,-7, -12,12/*mean (0.103385), correlation (0.342715)*/,
-13,3, -11,8/*mean (0.134222), correlation (0.322922)*/,
-7,12, -4,7/*mean (0.153284), correlation (0.337061)*/,
6,-10, 12,8/*mean (0.154881), correlation (0.329257)*/,
-9,-1, -7,-6/*mean (0.200967), correlation (0.33312)*/,
-2,-5, 0,12/*mean (0.201518), correlation (0.340635)*/,
-12,5, -7,5/*mean (0.207805), correlation (0.335631)*/,
3,-10, 8,-13/*mean (0.224438), correlation (0.34504)*/,
-7,-7, -4,5/*mean (0.239361), correlation (0.338053)*/,
-3,-2, -1,-7/*mean (0.240744), correlation (0.344322)*/,
2,9, 5,-11/*mean (0.242949), correlation (0.34145)*/,
-11,-13, -5,-13/*mean (0.244028), correlation (0.336861)*/,
-1,6, 0,-1/*mean (0.247571), correlation (0.343684)*/,
5,-3, 5,2/*mean (0.000697256), correlation (0.357265)*/,
-4,-13, -4,12/*mean (0.00213675), correlation (0.373827)*/,
-9,-6, -9,6/*mean (0.0126856), correlation (0.373938)*/,
-12,-10, -8,-4/*mean (0.0152497), correlation (0.364237)*/,
10,2, 12,-3/*mean (0.0299933), correlation (0.345292)*/,
7,12, 12,12/*mean (0.0307242), correlation (0.366299)*/,
-7,-13, -6,5/*mean (0.0534975), correlation (0.368357)*/,
-4,9, -3,4/*mean (0.099865), correlation (0.372276)*/,
7,-1, 12,2/*mean (0.117083), correlation (0.364529)*/,
-7,6, -5,1/*mean (0.126125), correlation (0.369606)*/,
-13,11, -12,5/*mean (0.130364), correlation (0.358502)*/,
-3,7, -2,-6/*mean (0.131691), correlation (0.375531)*/,
7,-8, 12,-7/*mean (0.160166), correlation (0.379508)*/,
-13,-7, -11,-12/*mean (0.167848), correlation (0.353343)*/,
1,-3, 12,12/*mean (0.183378), correlation (0.371916)*/,
2,-6, 3,0/*mean (0.228711), correlation (0.371761)*/,
-4,3, -2,-13/*mean (0.247211), correlation (0.364063)*/,
-1,-13, 1,9/*mean (0.249325), correlation (0.378139)*/,
7,1, 8,-6/*mean (0.000652272), correlation (0.411682)*/,
1,-1, 3,12/*mean (0.00248538), correlation (0.392988)*/,
9,1, 12,6/*mean (0.0206815), correlation (0.386106)*/,
-1,-9, -1,3/*mean (0.0364485), correlation (0.410752)*/,
-13,-13, -10,5/*mean (0.0376068), correlation (0.398374)*/,
7,7, 10,12/*mean (0.0424202), correlation (0.405663)*/,
12,-5, 12,9/*mean (0.0942645), correlation (0.410422)*/,
6,3, 7,11/*mean (0.1074), correlation (0.413224)*/,
5,-13, 6,10/*mean (0.109256), correlation (0.408646)*/,
2,-12, 2,3/*mean (0.131691), correlation (0.416076)*/,
3,8, 4,-6/*mean (0.165081), correlation (0.417569)*/,
2,6, 12,-13/*mean (0.171874), correlation (0.408471)*/,
9,-12, 10,3/*mean (0.175146), correlation (0.41296)*/,
-8,4, -7,9/*mean (0.183682), correlation (0.402956)*/,
-11,12, -4,-6/*mean (0.184672), correlation (0.416125)*/,
1,12, 2,-8/*mean (0.191487), correlation (0.386696)*/,
6,-9, 7,-4/*mean (0.192668), correlation (0.394771)*/,
2,3, 3,-2/*mean (0.200157), correlation (0.408303)*/,
6,3, 11,0/*mean (0.204588), correlation (0.411762)*/,
3,-3, 8,-8/*mean (0.205904), correlation (0.416294)*/,
7,8, 9,3/*mean (0.213237), correlation (0.409306)*/,
-11,-5, -6,-4/*mean (0.243444), correlation (0.395069)*/,
-10,11, -5,10/*mean (0.247672), correlation (0.413392)*/,
-5,-8, -3,12/*mean (0.24774), correlation (0.411416)*/,
-10,5, -9,0/*mean (0.00213675), correlation (0.454003)*/,
8,-1, 12,-6/*mean (0.0293635), correlation (0.455368)*/,
4,-6, 6,-11/*mean (0.0404971), correlation (0.457393)*/,
-10,12, -8,7/*mean (0.0481107), correlation (0.448364)*/,
4,-2, 6,7/*mean (0.050641), correlation (0.455019)*/,
-2,0, -2,12/*mean (0.0525978), correlation (0.44338)*/,
-5,-8, -5,2/*mean (0.0629667), correlation (0.457096)*/,
7,-6, 10,12/*mean (0.0653846), correlation (0.445623)*/,
-9,-13, -8,-8/*mean (0.0858749), correlation (0.449789)*/,
-5,-13, -5,-2/*mean (0.122402), correlation (0.450201)*/,
8,-8, 9,-13/*mean (0.125416), correlation (0.453224)*/,
-9,-11, -9,0/*mean (0.130128), correlation (0.458724)*/,
1,-8, 1,-2/*mean (0.132467), correlation (0.440133)*/,
7,-4, 9,1/*mean (0.132692), correlation (0.454)*/,
-2,1, -1,-4/*mean (0.135695), correlation (0.455739)*/,
11,-6, 12,-11/*mean (0.142904), correlation (0.446114)*/,
-12,-9, -6,4/*mean (0.146165), correlation (0.451473)*/,
3,7, 7,12/*mean (0.147627), correlation (0.456643)*/,
5,5, 10,8/*mean (0.152901), correlation (0.455036)*/,
0,-4, 2,8/*mean (0.167083), correlation (0.459315)*/,
-9,12, -5,-13/*mean (0.173234), correlation (0.454706)*/,
0,7, 2,12/*mean (0.18312), correlation (0.433855)*/,
-1,2, 1,7/*mean (0.185504), correlation (0.443838)*/,
5,11, 7,-9/*mean (0.185706), correlation (0.451123)*/,
3,5, 6,-8/*mean (0.188968), correlation (0.455808)*/,
-13,-4, -8,9/*mean (0.191667), correlation (0.459128)*/,
-5,9, -3,-3/*mean (0.193196), correlation (0.458364)*/,
-4,-7, -3,-12/*mean (0.196536), correlation (0.455782)*/,
6,5, 8,0/*mean (0.1972), correlation (0.450481)*/,
-7,6, -6,12/*mean (0.199438), correlation (0.458156)*/,
-13,6, -5,-2/*mean (0.211224), correlation (0.449548)*/,
1,-10, 3,10/*mean (0.211718), correlation (0.440606)*/,
4,1, 8,-4/*mean (0.213034), correlation (0.443177)*/,
-2,-2, 2,-13/*mean (0.234334), correlation (0.455304)*/,
2,-12, 12,12/*mean (0.235684), correlation (0.443436)*/,
-2,-13, 0,-6/*mean (0.237674), correlation (0.452525)*/,
4,1, 9,3/*mean (0.23962), correlation (0.444824)*/,
-6,-10, -3,-5/*mean (0.248459), correlation (0.439621)*/,
-3,-13, -1,1/*mean (0.249505), correlation (0.456666)*/,
7,5, 12,-11/*mean (0.00119208), correlation (0.495466)*/,
4,-2, 5,-7/*mean (0.00372245), correlation (0.484214)*/,
-13,9, -9,-5/*mean (0.00741116), correlation (0.499854)*/,
7,1, 8,6/*mean (0.0208952), correlation (0.499773)*/,
7,-8, 7,6/*mean (0.0220085), correlation (0.501609)*/,
-7,-4, -7,1/*mean (0.0233806), correlation (0.496568)*/,
-8,11, -7,-8/*mean (0.0236505), correlation (0.489719)*/,
-13,6, -12,-8/*mean (0.0268781), correlation (0.503487)*/,
2,4, 3,9/*mean (0.0323324), correlation (0.501938)*/,
10,-5, 12,3/*mean (0.0399235), correlation (0.494029)*/,
-6,-5, -6,7/*mean (0.0420153), correlation (0.486579)*/,
8,-3, 9,-8/*mean (0.0548021), correlation (0.484237)*/,
2,-12, 2,8/*mean (0.0616622), correlation (0.496642)*/,
-11,-2, -10,3/*mean (0.0627755), correlation (0.498563)*/,
-12,-13, -7,-9/*mean (0.0829622), correlation (0.495491)*/,
-11,0, -10,-5/*mean (0.0843342), correlation (0.487146)*/,
5,-3, 11,8/*mean (0.0929937), correlation (0.502315)*/,
-2,-13, -1,12/*mean (0.113327), correlation (0.48941)*/,
-1,-8, 0,9/*mean (0.132119), correlation (0.467268)*/,
-13,-11, -12,-5/*mean (0.136269), correlation (0.498771)*/,
-10,-2, -10,11/*mean (0.142173), correlation (0.498714)*/,
-3,9, -2,-13/*mean (0.144141), correlation (0.491973)*/,
2,-3, 3,2/*mean (0.14892), correlation (0.500782)*/,
-9,-13, -4,0/*mean (0.150371), correlation (0.498211)*/,
-4,6, -3,-10/*mean (0.152159), correlation (0.495547)*/,
-4,12, -2,-7/*mean (0.156152), correlation (0.496925)*/,
-6,-11, -4,9/*mean (0.15749), correlation (0.499222)*/,
6,-3, 6,11/*mean (0.159211), correlation (0.503821)*/,
-13,11, -5,5/*mean (0.162427), correlation (0.501907)*/,
11,11, 12,6/*mean (0.16652), correlation (0.497632)*/,
7,-5, 12,-2/*mean (0.169141), correlation (0.484474)*/,
-1,12, 0,7/*mean (0.169456), correlation (0.495339)*/,
-4,-8, -3,-2/*mean (0.171457), correlation (0.487251)*/,
-7,1, -6,7/*mean (0.175), correlation (0.500024)*/,
-13,-12, -8,-13/*mean (0.175866), correlation (0.497523)*/,
-7,-2, -6,-8/*mean (0.178273), correlation (0.501854)*/,
-8,5, -6,-9/*mean (0.181107), correlation (0.494888)*/,
-5,-1, -4,5/*mean (0.190227), correlation (0.482557)*/,
-13,7, -8,10/*mean (0.196739), correlation (0.496503)*/,
1,5, 5,-13/*mean (0.19973), correlation (0.499759)*/,
1,0, 10,-13/*mean (0.204465), correlation (0.49873)*/,
9,12, 10,-1/*mean (0.209334), correlation (0.49063)*/,
5,-8, 10,-9/*mean (0.211134), correlation (0.503011)*/,
-1,11, 1,-13/*mean (0.212), correlation (0.499414)*/,
-9,-3, -6,2/*mean (0.212168), correlation (0.480739)*/,
-1,-10, 1,12/*mean (0.212731), correlation (0.502523)*/,
-13,1, -8,-10/*mean (0.21327), correlation (0.489786)*/,
8,-11, 10,-6/*mean (0.214159), correlation (0.488246)*/,
2,-13, 3,-6/*mean (0.216993), correlation (0.50287)*/,
7,-13, 12,-9/*mean (0.223639), correlation (0.470502)*/,
-10,-10, -5,-7/*mean (0.224089), correlation (0.500852)*/,
-10,-8, -8,-13/*mean (0.228666), correlation (0.502629)*/,
4,-6, 8,5/*mean (0.22906), correlation (0.498305)*/,
3,12, 8,-13/*mean (0.233378), correlation (0.503825)*/,
-4,2, -3,-3/*mean (0.234323), correlation (0.476692)*/,
5,-13, 10,-12/*mean (0.236392), correlation (0.475462)*/,
4,-13, 5,-1/*mean (0.236842), correlation (0.504132)*/,
-9,9, -4,3/*mean (0.236977), correlation (0.497739)*/,
0,3, 3,-9/*mean (0.24314), correlation (0.499398)*/,
-12,1, -6,1/*mean (0.243297), correlation (0.489447)*/,
3,2, 4,-8/*mean (0.00155196), correlation (0.553496)*/,
-10,-10, -10,9/*mean (0.00239541), correlation (0.54297)*/,
8,-13, 12,12/*mean (0.0034413), correlation (0.544361)*/,
-8,-12, -6,-5/*mean (0.003565), correlation (0.551225)*/,
2,2, 3,7/*mean (0.00835583), correlation (0.55285)*/,
10,6, 11,-8/*mean (0.00885065), correlation (0.540913)*/,
6,8, 8,-12/*mean (0.0101552), correlation (0.551085)*/,
-7,10, -6,5/*mean (0.0102227), correlation (0.533635)*/,
-3,-9, -3,9/*mean (0.0110211), correlation (0.543121)*/,
-1,-13, -1,5/*mean (0.0113473), correlation (0.550173)*/,
-3,-7, -3,4/*mean (0.0140913), correlation (0.554774)*/,
-8,-2, -8,3/*mean (0.017049), correlation (0.55461)*/,
4,2, 12,12/*mean (0.01778), correlation (0.546921)*/,
2,-5, 3,11/*mean (0.0224022), correlation (0.549667)*/,
6,-9, 11,-13/*mean (0.029161), correlation (0.546295)*/,
3,-1, 7,12/*mean (0.0303081), correlation (0.548599)*/,
11,-1, 12,4/*mean (0.0355151), correlation (0.523943)*/,
-3,0, -3,6/*mean (0.0417904), correlation (0.543395)*/,
4,-11, 4,12/*mean (0.0487292), correlation (0.542818)*/,
2,-4, 2,1/*mean (0.0575124), correlation (0.554888)*/,
-10,-6, -8,1/*mean (0.0594242), correlation (0.544026)*/,
-13,7, -11,1/*mean (0.0597391), correlation (0.550524)*/,
-13,12, -11,-13/*mean (0.0608974), correlation (0.55383)*/,
6,0, 11,-13/*mean (0.065126), correlation (0.552006)*/,
0,-1, 1,4/*mean (0.074224), correlation (0.546372)*/,
-13,3, -9,-2/*mean (0.0808592), correlation (0.554875)*/,
-9,8, -6,-3/*mean (0.0883378), correlation (0.551178)*/,
-13,-6, -8,-2/*mean (0.0901035), correlation (0.548446)*/,
5,-9, 8,10/*mean (0.0949843), correlation (0.554694)*/,
2,7, 3,-9/*mean (0.0994152), correlation (0.550979)*/,
-1,-6, -1,-1/*mean (0.10045), correlation (0.552714)*/,
9,5, 11,-2/*mean (0.100686), correlation (0.552594)*/,
11,-3, 12,-8/*mean (0.101091), correlation (0.532394)*/,
3,0, 3,5/*mean (0.101147), correlation (0.525576)*/,
-1,4, 0,10/*mean (0.105263), correlation (0.531498)*/,
3,-6, 4,5/*mean (0.110785), correlation (0.540491)*/,
-13,0, -10,5/*mean (0.112798), correlation (0.536582)*/,
5,8, 12,11/*mean (0.114181), correlation (0.555793)*/,
8,9, 9,-6/*mean (0.117431), correlation (0.553763)*/,
7,-4, 8,-12/*mean (0.118522), correlation (0.553452)*/,
-10,4, -10,9/*mean (0.12094), correlation (0.554785)*/,
7,3, 12,4/*mean (0.122582), correlation (0.555825)*/,
9,-7, 10,-2/*mean (0.124978), correlation (0.549846)*/,
7,0, 12,-2/*mean (0.127002), correlation (0.537452)*/,
-1,-6, 0,-11/*mean (0.127148), correlation (0.547401)*/
};
class ORB_Impl : public cv::cuda::ORB
{
public:
ORB_Impl(int nfeatures,
float scaleFactor,
int nlevels,
int edgeThreshold,
int firstLevel,
int WTA_K,
int scoreType,
int patchSize,
int fastThreshold,
bool blurForDescriptor);
virtual void detectAndCompute(InputArray _image, InputArray _mask, std::vector<KeyPoint>& keypoints, OutputArray _descriptors, bool useProvidedKeypoints);
virtual void detectAndComputeAsync(InputArray _image, InputArray _mask, OutputArray _keypoints, OutputArray _descriptors, bool useProvidedKeypoints, Stream& stream);
virtual void convert(InputArray _gpu_keypoints, std::vector<KeyPoint>& keypoints);
virtual int descriptorSize() const { return kBytes; }
virtual int descriptorType() const { return CV_8U; }
virtual int defaultNorm() const { return NORM_HAMMING; }
virtual void setMaxFeatures(int maxFeatures) { nFeatures_ = maxFeatures; }
virtual int getMaxFeatures() const { return nFeatures_; }
virtual void setScaleFactor(double scaleFactor) { scaleFactor_ = scaleFactor; }
virtual double getScaleFactor() const { return scaleFactor_; }
virtual void setNLevels(int nlevels) { nLevels_ = nlevels; }
virtual int getNLevels() const { return nLevels_; }
virtual void setEdgeThreshold(int edgeThreshold) { edgeThreshold_ = edgeThreshold; }
virtual int getEdgeThreshold() const { return edgeThreshold_; }
virtual void setFirstLevel(int firstLevel) { firstLevel_ = firstLevel; }
virtual int getFirstLevel() const { return firstLevel_; }
virtual void setWTA_K(int wta_k) { WTA_K_ = wta_k; }
virtual int getWTA_K() const { return WTA_K_; }
virtual void setScoreType(int scoreType) { scoreType_ = scoreType; }
virtual int getScoreType() const { return scoreType_; }
virtual void setPatchSize(int patchSize) { patchSize_ = patchSize; }
virtual int getPatchSize() const { return patchSize_; }
virtual void setFastThreshold(int fastThreshold) { fastThreshold_ = fastThreshold; }
virtual int getFastThreshold() const { return fastThreshold_; }
virtual void setBlurForDescriptor(bool blurForDescriptor) { blurForDescriptor_ = blurForDescriptor; }
virtual bool getBlurForDescriptor() const { return blurForDescriptor_; }
private:
int nFeatures_;
float scaleFactor_;
int nLevels_;
int edgeThreshold_;
int firstLevel_;
int WTA_K_;
int scoreType_;
int patchSize_;
int fastThreshold_;
bool blurForDescriptor_;
private:
void buildScalePyramids(InputArray _image, InputArray _mask);
void computeKeyPointsPyramid();
void computeDescriptors(OutputArray _descriptors);
void mergeKeyPoints(OutputArray _keypoints);
private:
Ptr<cv::cuda::FastFeatureDetector> fastDetector_;
//! The number of desired features per scale
std::vector<size_t> n_features_per_level_;
//! Points to compute BRIEF descriptors from
GpuMat pattern_;
std::vector<GpuMat> imagePyr_;
std::vector<GpuMat> maskPyr_;
GpuMat buf_;
std::vector<GpuMat> keyPointsPyr_;
std::vector<int> keyPointsCount_;
Ptr<cuda::Filter> blurFilter_;
GpuMat d_keypoints_;
};
static void initializeOrbPattern(const Point* pattern0, Mat& pattern, int ntuples, int tupleSize, int poolSize)
{
RNG rng(0x12345678);
pattern.create(2, ntuples * tupleSize, CV_32SC1);
pattern.setTo(Scalar::all(0));
int* pattern_x_ptr = pattern.ptr<int>(0);
int* pattern_y_ptr = pattern.ptr<int>(1);
for (int i = 0; i < ntuples; i++)
{
for (int k = 0; k < tupleSize; k++)
{
for(;;)
{
int idx = rng.uniform(0, poolSize);
Point pt = pattern0[idx];
int k1;
for (k1 = 0; k1 < k; k1++)
if (pattern_x_ptr[tupleSize * i + k1] == pt.x && pattern_y_ptr[tupleSize * i + k1] == pt.y)
break;
if (k1 == k)
{
pattern_x_ptr[tupleSize * i + k] = pt.x;
pattern_y_ptr[tupleSize * i + k] = pt.y;
break;
}
}
}
}
}
static void makeRandomPattern(int patchSize, Point* pattern, int npoints)
{
// we always start with a fixed seed,
// to make patterns the same on each run
RNG rng(0x34985739);
for (int i = 0; i < npoints; i++)
{
pattern[i].x = rng.uniform(-patchSize / 2, patchSize / 2 + 1);
pattern[i].y = rng.uniform(-patchSize / 2, patchSize / 2 + 1);
}
}
ORB_Impl::ORB_Impl(int nFeatures,
float scaleFactor,
int nLevels,
int edgeThreshold,
int firstLevel,
int WTA_K,
int scoreType,
int patchSize,
int fastThreshold,
bool blurForDescriptor) :
nFeatures_(nFeatures),
scaleFactor_(scaleFactor),
nLevels_(nLevels),
edgeThreshold_(edgeThreshold),
firstLevel_(firstLevel),
WTA_K_(WTA_K),
scoreType_(scoreType),
patchSize_(patchSize),
fastThreshold_(fastThreshold),
blurForDescriptor_(blurForDescriptor)
{
CV_Assert( patchSize_ >= 2 );
CV_Assert( WTA_K_ == 2 || WTA_K_ == 3 || WTA_K_ == 4 );
fastDetector_ = cuda::FastFeatureDetector::create(fastThreshold_);
// fill the extractors and descriptors for the corresponding scales
float factor = 1.0f / scaleFactor_;
float n_desired_features_per_scale = nFeatures_ * (1.0f - factor) / (1.0f - std::pow(factor, nLevels_));
n_features_per_level_.resize(nLevels_);
size_t sum_n_features = 0;
for (int level = 0; level < nLevels_ - 1; ++level)
{
n_features_per_level_[level] = cvRound(n_desired_features_per_scale);
sum_n_features += n_features_per_level_[level];
n_desired_features_per_scale *= factor;
}
n_features_per_level_[nLevels_ - 1] = nFeatures - sum_n_features;
// pre-compute the end of a row in a circular patch
int half_patch_size = patchSize_ / 2;
std::vector<int> u_max(half_patch_size + 2);
for (int v = 0; v <= half_patch_size * std::sqrt(2.f) / 2 + 1; ++v)
{
u_max[v] = cvRound(std::sqrt(static_cast<float>(half_patch_size * half_patch_size - v * v)));
}
// Make sure we are symmetric
for (int v = half_patch_size, v_0 = 0; v >= half_patch_size * std::sqrt(2.f) / 2; --v)
{
while (u_max[v_0] == u_max[v_0 + 1])
++v_0;
u_max[v] = v_0;
++v_0;
}
CV_Assert( u_max.size() < 32 );
cv::cuda::device::orb::loadUMax(&u_max[0], static_cast<int>(u_max.size()));
// Calc pattern
const int npoints = 512;
Point pattern_buf[npoints];
const Point* pattern0 = (const Point*)bit_pattern_31_;
if (patchSize_ != 31)
{
pattern0 = pattern_buf;
makeRandomPattern(patchSize_, pattern_buf, npoints);
}
Mat h_pattern;
if (WTA_K_ == 2)
{
h_pattern.create(2, npoints, CV_32SC1);
int* pattern_x_ptr = h_pattern.ptr<int>(0);
int* pattern_y_ptr = h_pattern.ptr<int>(1);
for (int i = 0; i < npoints; ++i)
{
pattern_x_ptr[i] = pattern0[i].x;
pattern_y_ptr[i] = pattern0[i].y;
}
}
else
{
int ntuples = descriptorSize() * 4;
initializeOrbPattern(pattern0, h_pattern, ntuples, WTA_K_, npoints);
}
pattern_.upload(h_pattern);
blurFilter_ = cuda::createGaussianFilter(CV_8UC1, -1, Size(7, 7), 2, 2, BORDER_REFLECT_101);
}
void ORB_Impl::detectAndCompute(InputArray _image, InputArray _mask, std::vector<KeyPoint>& keypoints, OutputArray _descriptors, bool useProvidedKeypoints)
{
CV_Assert( useProvidedKeypoints == false );
detectAndComputeAsync(_image, _mask, d_keypoints_, _descriptors, false, Stream::Null());
convert(d_keypoints_, keypoints);
}
void ORB_Impl::detectAndComputeAsync(InputArray _image, InputArray _mask, OutputArray _keypoints, OutputArray _descriptors, bool useProvidedKeypoints, Stream& stream)
{
CV_Assert( useProvidedKeypoints == false );
buildScalePyramids(_image, _mask);
computeKeyPointsPyramid();
if (_descriptors.needed())
{
computeDescriptors(_descriptors);
}
mergeKeyPoints(_keypoints);
}
static float getScale(float scaleFactor, int firstLevel, int level)
{
return pow(scaleFactor, level - firstLevel);
}
void ORB_Impl::buildScalePyramids(InputArray _image, InputArray _mask)
{
const GpuMat image = _image.getGpuMat();
const GpuMat mask = _mask.getGpuMat();
CV_Assert( image.type() == CV_8UC1 );
CV_Assert( mask.empty() || (mask.type() == CV_8UC1 && mask.size() == image.size()) );
imagePyr_.resize(nLevels_);
maskPyr_.resize(nLevels_);
for (int level = 0; level < nLevels_; ++level)
{
float scale = 1.0f / getScale(scaleFactor_, firstLevel_, level);
Size sz(cvRound(image.cols * scale), cvRound(image.rows * scale));
ensureSizeIsEnough(sz, image.type(), imagePyr_[level]);
ensureSizeIsEnough(sz, CV_8UC1, maskPyr_[level]);
maskPyr_[level].setTo(Scalar::all(255));
// Compute the resized image
if (level != firstLevel_)
{
if (level < firstLevel_)
{
cuda::resize(image, imagePyr_[level], sz, 0, 0, INTER_LINEAR);
if (!mask.empty())
cuda::resize(mask, maskPyr_[level], sz, 0, 0, INTER_LINEAR);
}
else
{
cuda::resize(imagePyr_[level - 1], imagePyr_[level], sz, 0, 0, INTER_LINEAR);
if (!mask.empty())
{
cuda::resize(maskPyr_[level - 1], maskPyr_[level], sz, 0, 0, INTER_LINEAR);
cuda::threshold(maskPyr_[level], maskPyr_[level], 254, 0, THRESH_TOZERO);
}
}
}
else
{
image.copyTo(imagePyr_[level]);
if (!mask.empty())
mask.copyTo(maskPyr_[level]);
}
// Filter keypoints by image border
ensureSizeIsEnough(sz, CV_8UC1, buf_);
buf_.setTo(Scalar::all(0));
Rect inner(edgeThreshold_, edgeThreshold_, sz.width - 2 * edgeThreshold_, sz.height - 2 * edgeThreshold_);
buf_(inner).setTo(Scalar::all(255));
cuda::bitwise_and(maskPyr_[level], buf_, maskPyr_[level]);
}
}
// takes keypoints and culls them by the response
static void cull(GpuMat& keypoints, int& count, int n_points)
{
using namespace cv::cuda::device::orb;
//this is only necessary if the keypoints size is greater than the number of desired points.
if (count > n_points)
{
if (n_points == 0)
{
keypoints.release();
return;
}
count = cull_gpu(keypoints.ptr<int>(cuda::FastFeatureDetector::LOCATION_ROW), keypoints.ptr<float>(cuda::FastFeatureDetector::RESPONSE_ROW), count, n_points);
}
}
void ORB_Impl::computeKeyPointsPyramid()
{
using namespace cv::cuda::device::orb;
int half_patch_size = patchSize_ / 2;
keyPointsPyr_.resize(nLevels_);
keyPointsCount_.resize(nLevels_);
fastDetector_->setThreshold(fastThreshold_);
for (int level = 0; level < nLevels_; ++level)
{
fastDetector_->setMaxNumPoints(0.05 * imagePyr_[level].size().area());
GpuMat fastKpRange;
fastDetector_->detectAsync(imagePyr_[level], fastKpRange, maskPyr_[level], Stream::Null());
keyPointsCount_[level] = fastKpRange.cols;
if (keyPointsCount_[level] == 0)
continue;
ensureSizeIsEnough(3, keyPointsCount_[level], fastKpRange.type(), keyPointsPyr_[level]);
fastKpRange.copyTo(keyPointsPyr_[level].rowRange(0, 2));
const int n_features = static_cast<int>(n_features_per_level_[level]);
if (scoreType_ == ORB::HARRIS_SCORE)
{
// Keep more points than necessary as FAST does not give amazing corners
cull(keyPointsPyr_[level], keyPointsCount_[level], 2 * n_features);
// Compute the Harris cornerness (better scoring than FAST)
HarrisResponses_gpu(imagePyr_[level], keyPointsPyr_[level].ptr<short2>(0), keyPointsPyr_[level].ptr<float>(1), keyPointsCount_[level], 7, HARRIS_K, 0);
}
//cull to the final desired level, using the new Harris scores or the original FAST scores.
cull(keyPointsPyr_[level], keyPointsCount_[level], n_features);
// Compute orientation
IC_Angle_gpu(imagePyr_[level], keyPointsPyr_[level].ptr<short2>(0), keyPointsPyr_[level].ptr<float>(2), keyPointsCount_[level], half_patch_size, 0);
}
}
void ORB_Impl::computeDescriptors(OutputArray _descriptors)
{
using namespace cv::cuda::device::orb;
int nAllkeypoints = 0;
for (int level = 0; level < nLevels_; ++level)
nAllkeypoints += keyPointsCount_[level];
if (nAllkeypoints == 0)
{
_descriptors.release();
return;
}
ensureSizeIsEnough(nAllkeypoints, descriptorSize(), CV_8UC1, _descriptors);
GpuMat descriptors = _descriptors.getGpuMat();
int offset = 0;
for (int level = 0; level < nLevels_; ++level)
{
if (keyPointsCount_[level] == 0)
continue;
GpuMat descRange = descriptors.rowRange(offset, offset + keyPointsCount_[level]);
if (blurForDescriptor_)
{
// preprocess the resized image
ensureSizeIsEnough(imagePyr_[level].size(), imagePyr_[level].type(), buf_);
blurFilter_->apply(imagePyr_[level], buf_);
}
computeOrbDescriptor_gpu(blurForDescriptor_ ? buf_ : imagePyr_[level], keyPointsPyr_[level].ptr<short2>(0), keyPointsPyr_[level].ptr<float>(2),
keyPointsCount_[level], pattern_.ptr<int>(0), pattern_.ptr<int>(1), descRange, descriptorSize(), WTA_K_, 0);
offset += keyPointsCount_[level];
}
}
void ORB_Impl::mergeKeyPoints(OutputArray _keypoints)
{
using namespace cv::cuda::device::orb;
int nAllkeypoints = 0;
for (int level = 0; level < nLevels_; ++level)
nAllkeypoints += keyPointsCount_[level];
if (nAllkeypoints == 0)
{
_keypoints.release();
return;
}
ensureSizeIsEnough(ROWS_COUNT, nAllkeypoints, CV_32FC1, _keypoints);
GpuMat& keypoints = _keypoints.getGpuMatRef();
int offset = 0;
for (int level = 0; level < nLevels_; ++level)
{
if (keyPointsCount_[level] == 0)
continue;
float sf = getScale(scaleFactor_, firstLevel_, level);
GpuMat keyPointsRange = keypoints.colRange(offset, offset + keyPointsCount_[level]);
float locScale = level != firstLevel_ ? sf : 1.0f;
mergeLocation_gpu(keyPointsPyr_[level].ptr<short2>(0), keyPointsRange.ptr<float>(0), keyPointsRange.ptr<float>(1), keyPointsCount_[level], locScale, 0);
GpuMat range = keyPointsRange.rowRange(2, 4);
keyPointsPyr_[level](Range(1, 3), Range(0, keyPointsCount_[level])).copyTo(range);
keyPointsRange.row(4).setTo(Scalar::all(level));
keyPointsRange.row(5).setTo(Scalar::all(patchSize_ * sf));
offset += keyPointsCount_[level];
}
}
void ORB_Impl::convert(InputArray _gpu_keypoints, std::vector<KeyPoint>& keypoints)
{
if (_gpu_keypoints.empty())
{
keypoints.clear();
return;
}
Mat h_keypoints;
if (_gpu_keypoints.kind() == _InputArray::CUDA_GPU_MAT)
{
_gpu_keypoints.getGpuMat().download(h_keypoints);
}
else
{
h_keypoints = _gpu_keypoints.getMat();
}
CV_Assert( h_keypoints.rows == ROWS_COUNT );
CV_Assert( h_keypoints.type() == CV_32FC1 );
const int npoints = h_keypoints.cols;
keypoints.resize(npoints);
const float* x_ptr = h_keypoints.ptr<float>(X_ROW);
const float* y_ptr = h_keypoints.ptr<float>(Y_ROW);
const float* response_ptr = h_keypoints.ptr<float>(RESPONSE_ROW);
const float* angle_ptr = h_keypoints.ptr<float>(ANGLE_ROW);
const float* octave_ptr = h_keypoints.ptr<float>(OCTAVE_ROW);
const float* size_ptr = h_keypoints.ptr<float>(SIZE_ROW);
for (int i = 0; i < npoints; ++i)
{
KeyPoint kp;
kp.pt.x = x_ptr[i];
kp.pt.y = y_ptr[i];
kp.response = response_ptr[i];
kp.angle = angle_ptr[i];
kp.octave = static_cast<int>(octave_ptr[i]);
kp.size = size_ptr[i];
keypoints[i] = kp;
}
}
}
Ptr<cv::cuda::ORB> cv::cuda::ORB::create(int nfeatures,
float scaleFactor,
int nlevels,
int edgeThreshold,
int firstLevel,
int WTA_K,
int scoreType,
int patchSize,
int fastThreshold,
bool blurForDescriptor)
{
return makePtr<ORB_Impl>(nfeatures, scaleFactor, nlevels, edgeThreshold, firstLevel, WTA_K, scoreType, patchSize, fastThreshold, blurForDescriptor);
}
#endif /* !defined (HAVE_CUDA) */