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