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      1 #include <iostream>
      2 
      3 #include "opencv2/opencv_modules.hpp"
      4 
      5 #ifdef HAVE_OPENCV_XFEATURES2D
      6 
      7 #include "opencv2/core/core.hpp"
      8 #include "opencv2/features2d/features2d.hpp"
      9 #include "opencv2/highgui/highgui.hpp"
     10 #include "opencv2/cudafeatures2d.hpp"
     11 #include "opencv2/xfeatures2d/cuda.hpp"
     12 
     13 using namespace std;
     14 using namespace cv;
     15 using namespace cv::cuda;
     16 
     17 static void help()
     18 {
     19     cout << "\nThis program demonstrates using SURF_CUDA features detector, descriptor extractor and BruteForceMatcher_CUDA" << endl;
     20     cout << "\nUsage:\n\tmatcher_simple_gpu --left <image1> --right <image2>" << endl;
     21 }
     22 
     23 int main(int argc, char* argv[])
     24 {
     25     if (argc != 5)
     26     {
     27         help();
     28         return -1;
     29     }
     30 
     31     GpuMat img1, img2;
     32     for (int i = 1; i < argc; ++i)
     33     {
     34         if (string(argv[i]) == "--left")
     35         {
     36             img1.upload(imread(argv[++i], IMREAD_GRAYSCALE));
     37             CV_Assert(!img1.empty());
     38         }
     39         else if (string(argv[i]) == "--right")
     40         {
     41             img2.upload(imread(argv[++i], IMREAD_GRAYSCALE));
     42             CV_Assert(!img2.empty());
     43         }
     44         else if (string(argv[i]) == "--help")
     45         {
     46             help();
     47             return -1;
     48         }
     49     }
     50 
     51     cv::cuda::printShortCudaDeviceInfo(cv::cuda::getDevice());
     52 
     53     SURF_CUDA surf;
     54 
     55     // detecting keypoints & computing descriptors
     56     GpuMat keypoints1GPU, keypoints2GPU;
     57     GpuMat descriptors1GPU, descriptors2GPU;
     58     surf(img1, GpuMat(), keypoints1GPU, descriptors1GPU);
     59     surf(img2, GpuMat(), keypoints2GPU, descriptors2GPU);
     60 
     61     cout << "FOUND " << keypoints1GPU.cols << " keypoints on first image" << endl;
     62     cout << "FOUND " << keypoints2GPU.cols << " keypoints on second image" << endl;
     63 
     64     // matching descriptors
     65     Ptr<cv::cuda::DescriptorMatcher> matcher = cv::cuda::DescriptorMatcher::createBFMatcher(surf.defaultNorm());
     66     vector<DMatch> matches;
     67     matcher->match(descriptors1GPU, descriptors2GPU, matches);
     68 
     69     // downloading results
     70     vector<KeyPoint> keypoints1, keypoints2;
     71     vector<float> descriptors1, descriptors2;
     72     surf.downloadKeypoints(keypoints1GPU, keypoints1);
     73     surf.downloadKeypoints(keypoints2GPU, keypoints2);
     74     surf.downloadDescriptors(descriptors1GPU, descriptors1);
     75     surf.downloadDescriptors(descriptors2GPU, descriptors2);
     76 
     77     // drawing the results
     78     Mat img_matches;
     79     drawMatches(Mat(img1), keypoints1, Mat(img2), keypoints2, matches, img_matches);
     80 
     81     namedWindow("matches", 0);
     82     imshow("matches", img_matches);
     83     waitKey(0);
     84 
     85     return 0;
     86 }
     87 
     88 #else
     89 
     90 int main()
     91 {
     92     std::cerr << "OpenCV was built without xfeatures2d module" << std::endl;
     93     return 0;
     94 }
     95 
     96 #endif
     97