GPU加速的orb算法例程

ORB算法算是OpenCV自己提出来的算法

所以不管是C++还是CUDA代码在OpenCV里面都是有的

今天测试一下ORB算法以及使用GPU加速的ORB算法，其实代码很类似，只是接口的转换而已

但是有一点要强调一下，GPU版本只能输入灰度图像，即CV_8UC1，否则会出现报错

先上代码

CPU版本的代码：

#include <iostream>   
#include "opencv2/core/core.hpp"   
#include "opencv2/features2d/features2d.hpp"   
#include "opencv2/highgui/highgui.hpp"   
#include "opencv2/legacy/legacy.hpp"
#include <iostream>   
#include <vector>   
using namespace cv;  
using namespace std;  
int main()  
{  
    Mat img_1 = imread("D:\\联合调试\\1\\0001.jpg");  
    Mat img_2 = imread("D:\\联合调试\\1\\0011.jpg");  
    if (!img_1.data || !img_2.data)  
    {  
        cout << "error reading images " << endl;  
        return -1;  
    }  
  
    ORB orb;  
    vector<KeyPoint> keyPoints_1, keyPoints_2;  
    Mat descriptors_1, descriptors_2;  
  
    orb(img_1, Mat(), keyPoints_1, descriptors_1);  
    orb(img_2, Mat(), keyPoints_2, descriptors_2);  
      
    BruteForceMatcher<HammingLUT> matcher;  
    vector<DMatch> matches;  
    matcher.match(descriptors_1, descriptors_2, matches);  
  
    double max_dist = 0; double min_dist = 100;  
    //-- Quick calculation of max and min distances between keypoints   
    for( int i = 0; i < descriptors_1.rows; i++ )  
    {   
        double dist = matches[i].distance;  
        if( dist < min_dist ) min_dist = dist;  
        if( dist > max_dist ) max_dist = dist;  
    }  
    printf("-- Max dist : %f \n", max_dist );  
    printf("-- Min dist : %f \n", min_dist );  
    //-- Draw only "good" matches (i.e. whose distance is less than 0.6*max_dist )   
    //-- PS.- radiusMatch can also be used here.   
    std::vector< DMatch > good_matches;  
    for( int i = 0; i < descriptors_1.rows; i++ )  
    {   
        if( matches[i].distance < 0.6*max_dist )  
        {   
            good_matches.push_back( matches[i]);   
        }  
    }  
  
    Mat img_matches;  
    drawMatches(img_1, keyPoints_1, img_2, keyPoints_2,  
        good_matches, img_matches, Scalar::all(-1), Scalar::all(-1),  
        vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);  
    imshow( "Match", img_matches);  
    cvWaitKey();  
    imwrite( "Match.jpg", img_matches);  
    return 0;  
} 

GPU版本的代码：

#include <iostream>   
#include "opencv2/core/core.hpp"   
#include "opencv2/features2d/features2d.hpp"   
#include "opencv2/highgui/highgui.hpp"   
#include "opencv2/legacy/legacy.hpp"
#include <iostream>   
#include <vector>   

// GPU
#include "opencv2/gpu/gpu.hpp"

using namespace cv;  
using namespace std;  
using namespace cv::gpu;  
int main()  
{  
    Mat img_1 = imread("D:\\联合调试\\1\\0001.jpg", 0);  
    Mat img_2 = imread("D:\\联合调试\\1\\0011.jpg", 0);  
    if (!img_1.data || !img_2.data)  
    {  
        cout << "error reading images " << endl;  
        return -1;  
    }
	
	GpuMat dimg_1(img_1);
	GpuMat dimg_2(img_2);
	
    ORB_GPU orb_gpu;  
    vector<KeyPoint> dkeyPoints_1, dkeyPoints_2;  
    GpuMat ddescriptors_1, ddescriptors_2;  
    Mat des_1, des_2;  
  
    orb_gpu(dimg_1, GpuMat(), dkeyPoints_1, ddescriptors_1);  
    orb_gpu(dimg_2, GpuMat(), dkeyPoints_2, ddescriptors_2);  
	ddescriptors_1.download(des_1);
	ddescriptors_2.download(des_2);
    BruteForceMatcher<HammingLUT> matcher;  
    vector<DMatch> matches;  
    matcher.match(des_1, des_2, matches);  
    double max_dist = 0; double min_dist = 100;  
    //-- Quick calculation of max and min distances between keypoints   
    for( int i = 0; i < des_1.rows; i++ )  
    {   
        double dist = matches[i].distance;  
        if( dist < min_dist ) min_dist = dist;  
        if( dist > max_dist ) max_dist = dist;  
    }  
    printf("-- Max dist : %f \n", max_dist );  
    printf("-- Min dist : %f \n", min_dist );  
    //-- Draw only "good" matches (i.e. whose distance is less than 0.6*max_dist )   
    //-- PS.- radiusMatch can also be used here.   
    std::vector< DMatch > good_matches;  
    for( int i = 0; i < des_1.rows; i++ )  
    {   
        if( matches[i].distance < 0.6*max_dist )  
        {   
            good_matches.push_back( matches[i]);   
        }  
    }  
  
    Mat img_matches;  
    drawMatches(img_1, dkeyPoints_1, img_2, dkeyPoints_2,  
        good_matches, img_matches, Scalar::all(-1), Scalar::all(-1),  
        vector<char>(), DrawMatchesFlags::NOT_DRAW_SINGLE_POINTS);  
    imshow( "Match", img_matches);  
    cvWaitKey();  
    imwrite( "Match.jpg", img_matches);  


    return 0;  
} 

大家应该也能看出来，关键区别在于接口输入：

    GpuMat dimg_1(img_1);
    GpuMat dimg_2(img_2);
	
    ORB_GPU orb_gpu;  

结果基本都是一样