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updated focal estimation (opencv_stitching) + refactoring

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This commit is contained in:
Alexey Spizhevoy
2011-05-24 05:58:15 +00:00
parent 5c5cd449b3
commit ef966e15c1
6 changed files with 80 additions and 54 deletions
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modules/stitching/matchers.cpp
+29 -25
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@@ -288,8 +288,11 @@ void FeaturesMatcher::operator ()(const vector<ImageFeatures> &features, vector<
//////////////////////////////////////////////////////////////////////////////
namespace
namespace
{
// These two classes are aimed to find features matches only, not to
// estimate homography
class CpuMatcher : public FeaturesMatcher
{
public:
@@ -300,10 +303,24 @@ namespace
float match_conf_;
};
class GpuMatcher : public FeaturesMatcher
{
public:
GpuMatcher(float match_conf) : match_conf_(match_conf) {}
void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info);
private:
float match_conf_;
GpuMat descriptors1_;
GpuMat descriptors2_;
GpuMat train_idx_, distance_, all_dist_;
};
void CpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info)
{
matches_info.matches.clear();
BruteForceMatcher< L2<float> > matcher;
vector< vector<DMatch> > pair_matches;
@@ -332,34 +349,19 @@ namespace
matches_info.matches.push_back(DMatch(m0.trainIdx, m0.queryIdx, m0.distance));
}
}
class GpuMatcher : public FeaturesMatcher
{
public:
GpuMatcher(float match_conf) : match_conf_(match_conf) {}
void match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info);
private:
float match_conf_;
GpuMat descriptors1_;
GpuMat descriptors2_;
GpuMat trainIdx_, distance_, allDist_;
};
void GpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info)
{
matches_info.matches.clear();
BruteForceMatcher_GPU< L2<float> > matcher;
matches_info.matches.clear();
descriptors1_.upload(features1.descriptors);
descriptors2_.upload(features2.descriptors);
BruteForceMatcher_GPU< L2<float> > matcher;
vector< vector<DMatch> > pair_matches;
// Find 1->2 matches
matcher.knnMatch(descriptors1_, descriptors2_, trainIdx_, distance_, allDist_, 2);
matcher.knnMatchDownload(trainIdx_, distance_, pair_matches);
matcher.knnMatch(descriptors1_, descriptors2_, train_idx_, distance_, all_dist_, 2);
matcher.knnMatchDownload(train_idx_, distance_, pair_matches);
for (size_t i = 0; i < pair_matches.size(); ++i)
{
if (pair_matches[i].size() < 2)
@@ -376,8 +378,8 @@ namespace
// Find 2->1 matches
pair_matches.clear();
matcher.knnMatch(descriptors2_, descriptors1_, trainIdx_, distance_, allDist_, 2);
matcher.knnMatchDownload(trainIdx_, distance_, pair_matches);
matcher.knnMatch(descriptors2_, descriptors1_, train_idx_, distance_, all_dist_, 2);
matcher.knnMatchDownload(train_idx_, distance_, pair_matches);
for (size_t i = 0; i < pair_matches.size(); ++i)
{
if (pair_matches[i].size() < 2)
@@ -392,7 +394,9 @@ namespace
matches_info.matches.push_back(DMatch(m0.trainIdx, m0.queryIdx, m0.distance));
}
}
}
} // anonymous namespace
BestOf2NearestMatcher::BestOf2NearestMatcher(bool try_use_gpu, float match_conf, int num_matches_thresh1, int num_matches_thresh2)
{