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WIP - converting to OpenCL - 1 test #3

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WIP - converting to OpenCL - 1 test #3

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1e8dde0
convert cv::Mat to cv::UMat, not finished
kalwalt Aug 31, 2019
67527bf
last cv::MAt to cv::UMat translation
kalwalt Sep 2, 2019
04b6592
this fix the issue inside ProcessFrameData() - only for EMSCRIPTEN
kalwalt Sep 2, 2019
746a87b
UMat in FeatureDetector
kalwalt Sep 2, 2019
d5de60d
UMat for HarrisDetector
kalwalt Sep 2, 2019
201b12f
addMarker needs to copy the image
kalwalt Sep 2, 2019
4ef2829
UMat conversion for DetectAndCompute inside AddMarker
kalwalt Sep 2, 2019
622cb01
trying to convert the shared pointer
kalwalt Sep 2, 2019
41fe28e
commenting te save and load images, for a succesfull build!
kalwalt Sep 2, 2019
74ddef1
passing the data correctly now
kalwalt Sep 3, 2019
42f379e
simpler passing of data to convert to gray
kalwalt Sep 3, 2019
aaa4c77
image restored in Load and SaveDatabase
kalwalt Sep 4, 2019
5b7fe39
adding Umat in minMaxLoc
kalwalt Sep 4, 2019
108358c
better ProcessFrameData
kalwalt Sep 4, 2019
7321c4e
better ProcessFrameData
kalwalt Sep 4, 2019
5cb8794
Merge branch 'feature-test-OpenCL' of https://github.com/kalwalt/arto…
kalwalt Sep 4, 2019
42ca820
convert to UMat at the end
kalwalt Sep 10, 2019
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9 changes: 4 additions & 5 deletions Source/ARX/OCVT/HarrisDetector.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,16 +44,15 @@ HarrisDetector::HarrisDetector()
{
_termcrit = cv::TermCriteria(cv::TermCriteria::COUNT|cv::TermCriteria::EPS,20,0.03);
}
std::vector<cv::Point2f> HarrisDetector::FindCorners(cv::Mat gray)

std::vector<cv::Point2f> HarrisDetector::FindCorners(cv::UMat gray)
{
cv::Mat mask = cv::Mat::zeros(gray.size(), CV_8UC1);
cv::UMat mask = cv::UMat::zeros(gray.size(), CV_8UC1);
cv::Rect innerRegion(harrisBorder,harrisBorder,gray.cols-(harrisBorder*2), gray.rows-(harrisBorder*2));
cv::Mat maskRoi = mask(innerRegion);
cv::UMat maskRoi = mask(innerRegion);
maskRoi.setTo(cv::Scalar(255));
std::vector<cv::Point2f> trackablePointsWarped;
goodFeaturesToTrack(gray, trackablePointsWarped, MAX_COUNT, 0.1, 10, mask, 3, false, 0.04);
mask.release();
return trackablePointsWarped;
}

6 changes: 3 additions & 3 deletions Source/ARX/OCVT/HarrisDetector.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,11 +46,11 @@ class HarrisDetector
{
private:
cv::TermCriteria _termcrit;

public:
HarrisDetector();
std::vector<cv::Point2f> FindCorners(cv::Mat gray);

std::vector<cv::Point2f> FindCorners(cv::UMat gray);
};

#endif
3 changes: 1 addition & 2 deletions Source/ARX/OCVT/OCVFeatureDetector.cpp
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Expand Up @@ -97,7 +97,7 @@ bool OCVFeatureDetector::AddDescriptorsToDictionary(int id, cv::Mat descriptors)
return false;
}

std::vector<cv::KeyPoint> OCVFeatureDetector::DetectAndCompute(cv::Mat frame, cv::Mat mask, cv::Mat &desc) {
std::vector<cv::KeyPoint> OCVFeatureDetector::DetectAndCompute(cv::UMat frame, cv::UMat mask, cv::Mat &desc) {
std::vector<cv::KeyPoint> kp;
_featureDetector->detectAndCompute(frame, mask, kp, desc);
return kp;
Expand All @@ -109,4 +109,3 @@ std::vector< std::vector<cv::DMatch> > OCVFeatureDetector::MatchFeatures(cv::Ma
_matcher->knnMatch(first_desc, desc, matches, 2);
return matches;
}

14 changes: 7 additions & 7 deletions Source/ARX/OCVT/OCVFeatureDetector.h
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Expand Up @@ -48,23 +48,23 @@ class OCVFeatureDetector
{
public:
OCVFeatureDetector();

bool AddDescriptorsToDictionary(int id, cv::Mat descriptors);
std::vector<cv::KeyPoint> DetectAndCompute(cv::Mat frame, cv::Mat mask, cv::Mat &desc);

std::vector<cv::KeyPoint> DetectAndCompute(cv::UMat frame, cv::UMat mask, cv::Mat &desc);

std::vector< std::vector<cv::DMatch> > MatchFeatures(cv::Mat first_desc, cv::Mat desc);

void SetFeatureDetector(int detectorType);

// static int count;

private:
void CreateAkazeFeatureDetector();
void CreateORBFeatureDetector();
void CreateKazeFeatureDetector();
void CreateBriskFeatureDetector();

std::map<int, cv::Mat> _visualDictionary;
cv::Ptr<cv::DescriptorMatcher> _matcher;
cv::Ptr<cv::Feature2D> _featureDetector;
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