Added ORB features finder into stitching module

modules/stitching/include/opencv2/stitching/detail/matchers.hpp

@@ -89,6 +89,17 @@ private:
     Ptr<SURF> surf;
 };
 
+class CV_EXPORTS OrbFeaturesFinder : public FeaturesFinder
+{
+public:
+    OrbFeaturesFinder(size_t n_features = 1500, const ORB::CommonParams & detector_params = ORB::CommonParams(1.3, 5));
+
+private:
+    void find(const Mat &image, ImageFeatures &features);
+
+    Ptr<ORB> orb;
+};
+
 
 #ifndef ANDROID
 class CV_EXPORTS SurfFeaturesFinderGpu : public FeaturesFinder

modules/stitching/perf/perf_stich.cpp

@@ -6,11 +6,9 @@ using namespace std;
 using namespace cv;
 using namespace perf;
 
+typedef TestBaseWithParam<String> stitch;
 
-/*
-// Stitcher::Status Stitcher::stitch(InputArray imgs, OutputArray pano)
-*/
-PERF_TEST( stitch3, a123 )
+PERF_TEST_P( stitch, a123, testing::Values("surf", "orb"))
 {
     Mat pano;
     
@@ -20,12 +18,21 @@ PERF_TEST( stitch3, a123 )
     imgs.push_back( imread( getDataPath("stitching/a3.jpg") ) );
 
     Stitcher::Status status;
+    Ptr<detail::FeaturesFinder> featuresFinder = GetParam() == "orb"
+            ? (detail::FeaturesFinder*)new detail::OrbFeaturesFinder()
+            : (detail::FeaturesFinder*)new detail::SurfFeaturesFinder();
 
-    declare.time(30 * 20);
+    Ptr<detail::FeaturesMatcher> featuresMatcher = GetParam() == "orb"
+            ? new detail::BestOf2NearestMatcher(false, 0.3f)
+            : new detail::BestOf2NearestMatcher(false, 0.65f);
+
+    declare.time(30 * 20).iterations(50);
 
     while(next())
     {
         Stitcher stitcher = Stitcher::createDefault();
+        stitcher.setFeaturesFinder(featuresFinder);
+        stitcher.setFeaturesMatcher(featuresMatcher);
 
         startTimer();
         status = stitcher.stitch(imgs, pano);
@@ -33,7 +40,7 @@ PERF_TEST( stitch3, a123 )
     }
 }
 
-PERF_TEST( stitch2, b12 )
+PERF_TEST_P( stitch, b12, testing::Values("surf", "orb"))
 {
     Mat pano;
     
@@ -42,12 +49,21 @@ PERF_TEST( stitch2, b12 )
     imgs.push_back( imread( getDataPath("stitching/b2.jpg") ) );
 
     Stitcher::Status status;
+    Ptr<detail::FeaturesFinder> featuresFinder = GetParam() == "orb"
+            ? (detail::FeaturesFinder*)new detail::OrbFeaturesFinder()
+            : (detail::FeaturesFinder*)new detail::SurfFeaturesFinder();
+
+    Ptr<detail::FeaturesMatcher> featuresMatcher = GetParam() == "orb"
+            ? new detail::BestOf2NearestMatcher(false, 0.3f)
+            : new detail::BestOf2NearestMatcher(false, 0.65f);
 
-    declare.time(30 * 20);
+    declare.time(30 * 20).iterations(50);
 
     while(next())
     {
         Stitcher stitcher = Stitcher::createDefault();
+        stitcher.setFeaturesFinder(featuresFinder);
+        stitcher.setFeaturesMatcher(featuresMatcher);
 
         startTimer();
         status = stitcher.stitch(imgs, pano);

modules/stitching/src/matchers.cpp

@@ -148,7 +148,20 @@ private:
 void CpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &features2, MatchesInfo& matches_info)
 {
     matches_info.matches.clear();
-    FlannBasedMatcher matcher;
+
+    CV_Assert(features1.descriptors.type() == features2.descriptors.type());
+    CV_Assert(features2.descriptors.depth() == CV_8U || features2.descriptors.depth() == CV_32F);
+
+    Ptr<flann::IndexParams> indexParams = new flann::KDTreeIndexParams();
+    Ptr<flann::SearchParams> searchParams = new flann::SearchParams();
+
+    if (features2.descriptors.depth() == CV_8U)
+    {
+        indexParams->setAlgorithm(cvflann::FLANN_INDEX_LSH);
+        searchParams->setAlgorithm(cvflann::FLANN_INDEX_LSH);
+    }
+
+    FlannBasedMatcher matcher(indexParams, searchParams);
     vector< vector<DMatch> > pair_matches;
     MatchesSet matches;
 
@@ -166,6 +179,7 @@ void CpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &feat
             matches.insert(make_pair(m0.queryIdx, m0.trainIdx));
         }
     }
+    LOG("\n1->2 matches: " << matches_info.matches.size() << endl);
 
     // Find 2->1 matches
     pair_matches.clear();
@@ -180,6 +194,7 @@ void CpuMatcher::match(const ImageFeatures &features1, const ImageFeatures &feat
             if (matches.find(make_pair(m0.trainIdx, m0.queryIdx)) == matches.end())
                 matches_info.matches.push_back(DMatch(m0.trainIdx, m0.queryIdx, m0.distance));
     }
+    LOG("1->2 & 2->1 matches: " << matches_info.matches.size() << endl);
 }
 
 #ifndef ANDROID
@@ -304,11 +319,10 @@ SurfFeaturesFinder::SurfFeaturesFinder(double hess_thresh, int num_octaves, int
     }
 }
 
-
 void SurfFeaturesFinder::find(const Mat &image, ImageFeatures &features)
 {
     Mat gray_image;
-    CV_Assert(image.depth() == CV_8U);
+    CV_Assert(image.type() == CV_8UC3);
     cvtColor(image, gray_image, CV_BGR2GRAY);
     if (surf == 0)
     {
@@ -323,6 +337,19 @@ void SurfFeaturesFinder::find(const Mat &image, ImageFeatures &features)
     }
 }
 
+OrbFeaturesFinder::OrbFeaturesFinder(size_t n_features, const ORB::CommonParams & detector_params)
+{
+    orb = new ORB(n_features, detector_params);
+}
+
+void OrbFeaturesFinder::find(const Mat &image, ImageFeatures &features)
+{
+    Mat gray_image;
+    CV_Assert(image.type() == CV_8UC3);
+    cvtColor(image, gray_image, CV_BGR2GRAY);
+
+    (*orb)(gray_image, Mat(), features.keypoints, features.descriptors);
+}
 
 #ifndef ANDROID
 SurfFeaturesFinderGpu::SurfFeaturesFinderGpu(double hess_thresh, int num_octaves, int num_layers,

samples/cpp/stitching_detailed.cpp

@@ -74,8 +74,10 @@ void printUsage()
         "\nMotion Estimation Flags:\n"
         "  --work_megapix <float>\n"
         "      Resolution for image registration step. The default is 0.6 Mpx.\n"
+        "  --features (surf|orb)\n"
+        "      Type of features used for images matching. The default is surf.\n"
         "  --match_conf <float>\n"
-        "      Confidence for feature matching step. The default is 0.65.\n"
+        "      Confidence for feature matching step. The default is 0.65 for surf and 0.3 for orb.\n"
         "  --conf_thresh <float>\n"
         "      Threshold for two images are from the same panorama confidence.\n"
         "      The default is 1.0.\n"
@@ -123,6 +125,7 @@ double work_megapix = 0.6;
 double seam_megapix = 0.1;
 double compose_megapix = -1;
 float conf_thresh = 1.f;
+string features = "surf";
 string ba_cost_func = "ray";
 string ba_refine_mask = "xxxxx";
 bool do_wave_correct = true;
@@ -188,6 +191,13 @@ int parseCmdArgs(int argc, char** argv)
             result_name = argv[i + 1];
             i++;
         }
+        else if (string(argv[i]) == "--features")
+        {
+            features = argv[i + 1];
+            if (features == "orb")
+                match_conf = 0.3f;
+            i++;
+        }
         else if (string(argv[i]) == "--match_conf")
         {
             match_conf = static_cast<float>(atof(argv[i + 1]));
@@ -334,12 +344,24 @@ int main(int argc, char* argv[])
     int64 t = getTickCount();
 
     Ptr<FeaturesFinder> finder;
+    if (features == "surf")
+    {
 #ifndef ANDROID
         if (try_gpu && gpu::getCudaEnabledDeviceCount() > 0)
             finder = new SurfFeaturesFinderGpu();
         else
 #endif
             finder = new SurfFeaturesFinder();
+    }
+    else if (features == "orb")
+    {
+        finder = new OrbFeaturesFinder();
+    }
+    else
+    {
+        cout << "Unknown 2D features type: '" << features << "'.\n";
+        return -1;
+    }
 
     Mat full_img, img;
     vector<ImageFeatures> features(num_images);