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Some modifications for compatibility with OpenCV 3.0 beta
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@pablofdezalc
pablofdezalc committed Dec 5, 2014
1 parent 764ca47 commit 3b112ef
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Showing 7 changed files with 147 additions and 129 deletions.
4 changes: 2 additions & 2 deletions src/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -25,8 +25,8 @@ if(OPENMP_FOUND)
else(OPENMP_FOUND)
MESSAGE("OpenMP not found")
if(UNIX)
SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS} -O3 -Wno-unknown-pragmas -Wunused-variable -g -fPIC -msse2 -msse3 -msse4 -ffast-math")
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -Wno-unknown-pragmas -Wunused-variable -g -fPIC -msse2 -msse3 -msse4 -ffast-math")
SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS} -O3 -Wall -std=c++0x -Wunused-variable -Wno-unknown-pragmas -g -fPIC -msse2 -msse3 -msse4 -ffast-math")
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS} -O3 -Wall -std=c++0x -Wno-unknown-pragmas -Wunused-variable -g -fPIC -msse2 -msse3 -msse4 -ffast-math")
endif(UNIX)
endif(OPENMP_FOUND)

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114 changes: 55 additions & 59 deletions src/akaze_compare.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,25 +22,29 @@

#include "AKAZE.h"

// OpenCV
#include <opencv2/features2d/features2d.hpp>
#include <opencv2/imgproc/imgproc.hpp>

using namespace std;

/* ************************************************************************* */
// ORB settings
const int ORB_MAX_KPTS = 1500;
const float ORB_SCALE_FACTOR = 1.2;
const int ORB_PYRAMID_LEVELS = 4;
const float ORB_EDGE_THRESHOLD = 31.0;
const int ORB_FIRST_PYRAMID_LEVEL = 0;
const int ORB_WTA_K = 2;
const int ORB_PATCH_SIZE = 31;
int ORB_MAX_KPTS = 1500;
float ORB_SCALE_FACTOR = 1.2;
int ORB_PYRAMID_LEVELS = 4;
float ORB_EDGE_THRESHOLD = 31.0;
int ORB_FIRST_PYRAMID_LEVEL = 0;
int ORB_WTA_K = 2;
int ORB_PATCH_SIZE = 31;

// BRISK settings
const float BRISK_HTHRES = 10.0;
const int BRISK_NOCTAVES = 4;
int BRISK_HTHRES = 10;
int BRISK_NOCTAVES = 4;

// Some image matching options
const float MIN_H_ERROR = 2.50f; // Maximum error in pixels to accept an inlier
const float DRATIO = 0.80f; // NNDR Matching value
float MIN_H_ERROR = 2.50f; // Maximum error in pixels to accept an inlier
float DRATIO = 0.80f; // NNDR Matching value

/* ************************************************************************* */
/**
Expand All @@ -64,8 +68,7 @@ int main(int argc, char *argv[]) {
double t1 = 0.0, t2 = 0.0;

// ORB variables
cv::Ptr<cv::OrbFeatureDetector> orb_detector;
cv::Ptr<cv::DescriptorExtractor> orb_descriptor;
cv::Ptr<cv::ORB> orb;
vector<cv::KeyPoint> kpts1_orb, kpts2_orb;
vector<cv::Point2f> matches_orb, inliers_orb;
vector<vector<cv::DMatch> > dmatches_orb;
Expand All @@ -76,7 +79,7 @@ int main(int argc, char *argv[]) {
double torb = 0.0;

// BRISK variables
cv::BRISK dbrisk(BRISK_HTHRES,BRISK_NOCTAVES);
cv::Ptr<cv::BRISK> brisk;
vector<cv::KeyPoint> kpts1_brisk, kpts2_brisk;
vector<cv::Point2f> matches_brisk, inliers_brisk;
vector<vector<cv::DMatch> > dmatches_brisk;
Expand All @@ -96,14 +99,14 @@ int main(int argc, char *argv[]) {
float ratio_akaze = 0.0;
double takaze = 0.0;

// Create the L2 and L1 matchers
cv::Ptr<cv::DescriptorMatcher> matcher_l2 = cv::DescriptorMatcher::create("BruteForce");
cv::Ptr<cv::DescriptorMatcher> matcher_l1 = cv::DescriptorMatcher::create("BruteForce-Hamming");
cv::Mat HG;

// Parse the input command line options
if (parse_input_options(options,img_path1,img_path2,homography_path,argc,argv)) {
if (parse_input_options(options,img_path1,img_path2,homography_path,argc,argv))
return -1;
}

// Read the image, force to be grey scale
img1 = cv::imread(img_path1,0);
Expand Down Expand Up @@ -147,30 +150,24 @@ int main(int argc, char *argv[]) {

// ORB Features
//*****************
orb_detector = new cv::OrbFeatureDetector(ORB_MAX_KPTS,ORB_SCALE_FACTOR,ORB_PYRAMID_LEVELS,
ORB_EDGE_THRESHOLD,ORB_FIRST_PYRAMID_LEVEL,ORB_WTA_K,ORB_PATCH_SIZE);
orb_descriptor = new cv::OrbDescriptorExtractor();
orb = cv::ORB::create(ORB_MAX_KPTS, ORB_SCALE_FACTOR, ORB_PYRAMID_LEVELS,
ORB_EDGE_THRESHOLD, ORB_FIRST_PYRAMID_LEVEL, ORB_WTA_K, ORB_PATCH_SIZE);

t1 = cv::getTickCount();

orb_detector->detect(img1,kpts1_orb);
orb_detector->detect(img2,kpts2_orb);

nkpts1_orb = kpts1_orb.size();
nkpts2_orb = kpts2_orb.size();

orb_descriptor->compute(img1,kpts1_orb,desc1_orb);
orb_descriptor->compute(img2,kpts2_orb,desc2_orb);

matcher_l1->knnMatch(desc1_orb,desc2_orb,dmatches_orb,2);
orb->detectAndCompute(img1, cv::noArray(), kpts1_orb, desc1_orb, false);
orb->detectAndCompute(img2, cv::noArray(), kpts2_orb, desc2_orb, false);

matcher_l1->knnMatch(desc1_orb, desc2_orb, dmatches_orb, 2);
matches2points_nndr(kpts1_orb,kpts2_orb,dmatches_orb,matches_orb,DRATIO);

if (use_ransac == false)
compute_inliers_homography(matches_orb,inliers_orb,HG,MIN_H_ERROR);
compute_inliers_homography(matches_orb,inliers_orb, HG, MIN_H_ERROR);
else
compute_inliers_ransac(matches_orb,inliers_orb,MIN_H_ERROR,false);
compute_inliers_ransac(matches_orb, inliers_orb, MIN_H_ERROR, false);

nkpts1_orb = kpts1_orb.size();
nkpts2_orb = kpts2_orb.size();
nmatches_orb = matches_orb.size()/2;
ninliers_orb = inliers_orb.size()/2;
noutliers_orb = nmatches_orb-ninliers_orb;
Expand All @@ -179,12 +176,12 @@ int main(int argc, char *argv[]) {
t2 = cv::getTickCount();
torb = 1000.0*(t2-t1) / cv::getTickFrequency();

cvtColor(img1,img1_rgb_orb,CV_GRAY2BGR);
cvtColor(img2,img2_rgb_orb,CV_GRAY2BGR);
cvtColor(img1, img1_rgb_orb, cv::COLOR_GRAY2BGR);
cvtColor(img2, img2_rgb_orb, cv::COLOR_GRAY2BGR);

draw_keypoints(img1_rgb_orb,kpts1_orb);
draw_keypoints(img2_rgb_orb,kpts2_orb);
draw_inliers(img1_rgb_orb,img2_rgb_orb,img_com_orb,inliers_orb,0);
draw_keypoints(img1_rgb_orb, kpts1_orb);
draw_keypoints(img2_rgb_orb, kpts2_orb);
draw_inliers(img1_rgb_orb, img2_rgb_orb, img_com_orb, inliers_orb, 0);

cout << "ORB Results" << endl;
cout << "**************************************" << endl;
Expand All @@ -201,13 +198,14 @@ int main(int argc, char *argv[]) {

// BRISK Features
//*****************
brisk = cv::BRISK::create(BRISK_HTHRES, BRISK_NOCTAVES, 1.0f);

t1 = cv::getTickCount();

dbrisk(img1, cv::noArray(), kpts1_brisk, desc1_brisk, false);
dbrisk(img2, cv::noArray(), kpts2_brisk, desc2_brisk, false);
brisk->detectAndCompute(img1, cv::noArray(), kpts1_brisk, desc1_brisk, false);
brisk->detectAndCompute(img2, cv::noArray(), kpts2_brisk, desc2_brisk, false);

matcher_l1->knnMatch(desc1_brisk, desc2_brisk, dmatches_brisk, 2);

matches2points_nndr(kpts1_brisk, kpts2_brisk, dmatches_brisk, matches_brisk, DRATIO);

if (use_ransac == false)
Expand All @@ -225,12 +223,12 @@ int main(int argc, char *argv[]) {
t2 = cv::getTickCount();
tbrisk = 1000.0*(t2-t1) / cv::getTickFrequency();

cvtColor(img1,img1_rgb_brisk,CV_GRAY2BGR);
cvtColor(img2,img2_rgb_brisk,CV_GRAY2BGR);
cvtColor(img1, img1_rgb_brisk, cv::COLOR_GRAY2BGR);
cvtColor(img2, img2_rgb_brisk, cv::COLOR_GRAY2BGR);

draw_keypoints(img1_rgb_brisk,kpts1_brisk);
draw_keypoints(img2_rgb_brisk,kpts2_brisk);
draw_inliers(img1_rgb_brisk,img2_rgb_brisk,img_com_brisk,inliers_brisk,1);
draw_keypoints(img1_rgb_brisk, kpts1_brisk);
draw_keypoints(img2_rgb_brisk, kpts2_brisk);
draw_inliers(img1_rgb_brisk, img2_rgb_brisk, img_com_brisk, inliers_brisk, 1);

cout << "BRISK Results" << endl;
cout << "**************************************" << endl;
Expand Down Expand Up @@ -259,22 +257,18 @@ int main(int argc, char *argv[]) {

evolution1.Create_Nonlinear_Scale_Space(img1_32);
evolution1.Feature_Detection(kpts1_akaze);
evolution1.Compute_Descriptors(kpts1_akaze,desc1_akaze);
evolution1.Compute_Descriptors(kpts1_akaze, desc1_akaze);

evolution2.Create_Nonlinear_Scale_Space(img2_32);
evolution2.Feature_Detection(kpts2_akaze);
evolution2.Compute_Descriptors(kpts2_akaze,desc2_akaze);
evolution2.Compute_Descriptors(kpts2_akaze, desc2_akaze);

nkpts1_akaze = kpts1_akaze.size();
nkpts2_akaze = kpts2_akaze.size();
if (options.descriptor < MLDB_UPRIGHT)
matcher_l2->knnMatch(desc1_akaze, desc2_akaze, dmatches_akaze, 2);

if (options.descriptor < MLDB_UPRIGHT) {
matcher_l2->knnMatch(desc1_akaze,desc2_akaze,dmatches_akaze,2);
}
// Binary descriptor, use Hamming distance
else {
matcher_l1->knnMatch(desc1_akaze,desc2_akaze,dmatches_akaze,2);
}
else
matcher_l1->knnMatch(desc1_akaze, desc2_akaze, dmatches_akaze, 2);

matches2points_nndr(kpts1_akaze,kpts2_akaze,dmatches_akaze,matches_akaze,DRATIO);

Expand All @@ -286,17 +280,19 @@ int main(int argc, char *argv[]) {
t2 = cv::getTickCount();
takaze = 1000.0*(t2-t1)/cv::getTickFrequency();

nkpts1_akaze = kpts1_akaze.size();
nkpts2_akaze = kpts2_akaze.size();
nmatches_akaze = matches_akaze.size()/2;
ninliers_akaze = inliers_akaze.size()/2;
noutliers_akaze = nmatches_akaze-ninliers_akaze;
ratio_akaze = 100.0*((float) ninliers_akaze / (float) nmatches_akaze);

cvtColor(img1,img1_rgb_akaze,CV_GRAY2BGR);
cvtColor(img2,img2_rgb_akaze,CV_GRAY2BGR);
cvtColor(img1,img1_rgb_akaze, cv::COLOR_GRAY2BGR);
cvtColor(img2,img2_rgb_akaze, cv::COLOR_GRAY2BGR);

draw_keypoints(img1_rgb_akaze,kpts1_akaze);
draw_keypoints(img2_rgb_akaze,kpts2_akaze);
draw_inliers(img1_rgb_akaze,img2_rgb_akaze,img_com_akaze,inliers_akaze,2);
draw_keypoints(img1_rgb_akaze, kpts1_akaze);
draw_keypoints(img2_rgb_akaze, kpts2_akaze);
draw_inliers(img1_rgb_akaze, img2_rgb_akaze, img_com_akaze, inliers_akaze, 2);

cout << "A-KAZE Results" << endl;
cout << "**************************************" << endl;
Expand Down
35 changes: 19 additions & 16 deletions src/akaze_features.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -22,6 +22,9 @@

#include "AKAZE.h"

// OpenCV
#include <opencv2/imgproc/imgproc.hpp>

using namespace std;

/* ************************************************************************* */
Expand All @@ -45,34 +48,34 @@ int main(int argc, char *argv[]) {
double t1 = 0.0, t2 = 0.0, tdet = 0.0, tdesc = 0.0;

// Parse the input command line options
if (parse_input_options(options,img_path,kpts_path,argc,argv)) {
if (parse_input_options(options, img_path, kpts_path, argc, argv))
return -1;
}

if (options.verbosity) {
cout << "Check AKAZE options:" << endl;
cout << options << endl;
}

// Try to read the image and if necessary convert to grayscale.
cv::Mat img = cv::imread(img_path,0);
cv::Mat img = cv::imread(img_path.c_str(), 0);
if (img.data == NULL) {
cerr << "Error: cannot load image from file:" << endl << img_path << endl;
return -1;
}

// Convert the image to float to extract features.
// Convert the image to float to extract features
cv::Mat img_32;
img.convertTo(img_32, CV_32F, 1.0/255.0,0);
img.convertTo(img_32, CV_32F, 1.0/255.0, 0);

// Don't forget to specify image dimensions in AKAZE's options.
// Don't forget to specify image dimensions in AKAZE's options
options.img_width = img.cols;
options.img_height = img.rows;

// Extract features.
// Extract features
libAKAZE::AKAZE evolution(options);
vector<cv::KeyPoint> kpts;

t1 = cv::getTickCount();
libAKAZE::AKAZE evolution(options);
evolution.Create_Nonlinear_Scale_Space(img_32);
evolution.Feature_Detection(kpts);
t2 = cv::getTickCount();
Expand All @@ -81,26 +84,26 @@ int main(int argc, char *argv[]) {
// Compute descriptors.
cv::Mat desc;
t1 = cv::getTickCount();
evolution.Compute_Descriptors(kpts,desc);
evolution.Compute_Descriptors(kpts, desc);
t2 = cv::getTickCount();
tdesc = 1000.0*(t2-t1) / cv::getTickFrequency();

// Summarize the computation times.
evolution.Show_Computation_Times();
evolution.Save_Scale_Space();

cout << "Number of points: " << kpts.size() << endl;
cout << "Time Detector: " << tdet << " ms" << endl;
cout << "Time Descriptor: " << tdesc << " ms" << endl;

// Save keypoints in ASCII format.
// Save keypoints in ASCII format
if (!kpts_path.empty())
save_keypoints(kpts_path,kpts,desc,true);
save_keypoints(kpts_path, kpts, desc, true);

// Check out the result visually.
// Check out the result visually
cv::Mat img_rgb = cv::Mat(cv::Size(img.cols, img.rows), CV_8UC3);
cvtColor(img,img_rgb,CV_GRAY2BGR);
draw_keypoints(img_rgb,kpts);
cv::imshow(img_path,img_rgb);
cvtColor(img,img_rgb, cv::COLOR_GRAY2BGR);
draw_keypoints(img_rgb, kpts);
cv::imshow(img_path, img_rgb);
cv::waitKey(0);
}

Expand Down
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