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#include <iostream>
#include "opencv2/opencv_modules.hpp"
#ifdef HAVE_OPENCV_XFEATURES2D
#include "opencv2/core.hpp"
#include "opencv2/features2d.hpp"
#include "opencv2/highgui.hpp"
#include "opencv2/cudafeatures2d.hpp"
#include "opencv2/xfeatures2d/cuda.hpp"
using namespace std;
using namespace cv;
using namespace cv::cuda;
static void help()
{
cout << "\nThis program demonstrates using SURF_CUDA features detector, descriptor extractor and BruteForceMatcher_CUDA" << endl;
cout << "\nUsage:\n\tsurf_keypoint_matcher --left <image1> --right <image2>" << endl;
}
int main(int argc, char* argv[])
{
if (argc != 5)
{
help();
return -1;
}
GpuMat img1, img2;
for (int i = 1; i < argc; ++i)
{
if (string(argv[i]) == "--left")
{
img1.upload(imread(argv[++i], IMREAD_GRAYSCALE));
CV_Assert(!img1.empty());
}
else if (string(argv[i]) == "--right")
{
img2.upload(imread(argv[++i], IMREAD_GRAYSCALE));
CV_Assert(!img2.empty());
}
else if (string(argv[i]) == "--help")
{
help();
return -1;
}
}
cv::cuda::printShortCudaDeviceInfo(cv::cuda::getDevice());
SURF_CUDA surf;
// detecting keypoints & computing descriptors
GpuMat keypoints1GPU, keypoints2GPU;
GpuMat descriptors1GPU, descriptors2GPU;
surf(img1, GpuMat(), keypoints1GPU, descriptors1GPU);
surf(img2, GpuMat(), keypoints2GPU, descriptors2GPU);
cout << "FOUND " << keypoints1GPU.cols << " keypoints on first image" << endl;
cout << "FOUND " << keypoints2GPU.cols << " keypoints on second image" << endl;
// matching descriptors
Ptr<cv::cuda::DescriptorMatcher> matcher = cv::cuda::DescriptorMatcher::createBFMatcher(surf.defaultNorm());
vector<DMatch> matches;
matcher->match(descriptors1GPU, descriptors2GPU, matches);
// downloading results
vector<KeyPoint> keypoints1, keypoints2;
vector<float> descriptors1, descriptors2;
surf.downloadKeypoints(keypoints1GPU, keypoints1);
surf.downloadKeypoints(keypoints2GPU, keypoints2);
surf.downloadDescriptors(descriptors1GPU, descriptors1);
surf.downloadDescriptors(descriptors2GPU, descriptors2);
// drawing the results
Mat img_matches;
drawMatches(Mat(img1), keypoints1, Mat(img2), keypoints2, matches, img_matches);
namedWindow("matches", 0);
imshow("matches", img_matches);
waitKey(0);
return 0;
}
#else
int main()
{
std::cerr << "OpenCV was built without xfeatures2d module" << std::endl;
return 0;
}
#endif
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