Merge pull request #30 from alicevision/extremum-filter-grid-2

Extremum filter grid 2

Author: Carsten Griwodz

CMakeLists.txt

@@ -21,9 +21,11 @@ else()
   message(STATUS "Building in ${CMAKE_BUILD_TYPE} configuration")
 endif()
 
-set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
 set(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3")
 set(CMAKE_C_FLAGS_RELEASE   "${CMAKE_C_FLAGS_RELEASE}   -O3")
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
 # set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -G")
 # set(CMAKE_C_FLAGS_DEBUG   "${CMAKE_C_FLAGS_DEBUG}   -G")

src/CMakeLists.txt

@@ -4,6 +4,7 @@ CUDA_INCLUDE_DIRECTORIES(${Boost_INCLUDE_DIRS})
 
 CUDA_ADD_LIBRARY(popsift STATIC
 	popsift/popsift.cu popsift/popsift.h
+	popsift/features.cu popsift/features.h
 	popsift/sift_constants.cu popsift/sift_constants.h
 	popsift/sift_conf.cu popsift/sift_conf.h
 	popsift/gauss_filter.cu popsift/gauss_filter.h
@@ -33,8 +34,8 @@ CUDA_ADD_LIBRARY(popsift STATIC
 	popsift/common/clamp.h
 	popsift/common/plane_2d.cu popsift/common/plane_2d.h
 	popsift/common/write_plane_2d.cu popsift/common/write_plane_2d.h
-	popsift/common/debug_macros.cpp popsift/common/debug_macros.h
-	popsift/common/device_prop.cpp popsift/common/device_prop.h
+	popsift/common/debug_macros.cu popsift/common/debug_macros.h
+	popsift/common/device_prop.cu popsift/common/device_prop.h
 	popsift/common/warp_bitonic_sort.h
 	popsift/common/excl_blk_prefix_sum.h
 	popsift/common/vec_macros.h

src/application/CMakeLists.txt

@@ -15,29 +15,55 @@ endif()
 find_package(Boost 1.53.0 REQUIRED COMPONENTS program_options system filesystem)
 find_package(DevIL REQUIRED COMPONENTS IL ILU) # yields IL_FOUND, IL_LIBRARIES, IL_INCLUDE_DIR
 
-add_executable(popsift-demo main.cpp pgmread.cpp pgmread.h)
-
-set_property(TARGET popsift-demo PROPERTY CXX_STANDARD 11)
+set(PD_INCLUDE_DIRS    ${Boost_INCLUDE_DIRS})
+set(PD_LINK_LIBS       ${Boost_LIBRARIES} ${CUDA_CUDADEVRT_LIBRARY})
 
 if(IL_FOUND OR DevIL_FOUND)
   message(STATUS "DevIL found")
-  target_compile_options(popsift-demo PRIVATE -DUSE_DEVIL)
-  target_include_directories(popsift-demo PUBLIC ${Boost_INCLUDE_DIRS} ${IL_INCLUDE_DIR})
-  target_compile_definitions(popsift-demo PRIVATE ${Boost_DEFINITIONS} BOOST_ALL_DYN_LINK BOOST_ALL_NO_LIB)
-  target_link_libraries(popsift-demo PUBLIC PopSift::popsift ${Boost_LIBRARIES} ${CUDA_CUDADEVRT_LIBRARY} ${IL_LIBRARIES} ${ILU_LIBRARIES})
+  set(PD_COMPILE_OPTIONS "-DUSE_DEVIL")
+  list(APPEND PD_INCLUDE_DIRS ${IL_INCLUDE_DIR})
+  list(APPEND PD_LINK_LIBS    ${IL_LIBRARIES} ${ILU_LIBRARIES})
 else()
   message(STATUS "DevIL not found")
-  target_include_directories(popsift-demo PUBLIC ${Boost_INCLUDE_DIRS})
-  target_compile_definitions(popsift-demo PRIVATE ${Boost_DEFINITIONS} BOOST_ALL_DYN_LINK BOOST_ALL_NO_LIB)
-  target_link_libraries(popsift-demo PUBLIC PopSift::popsift ${Boost_LIBRARIES} ${CUDA_CUDADEVRT_LIBRARY})
+  set(PD_COMPILE_OPTIONS "" )
 endif()
 
 if(USE_NVTX_PROFILING)
-  target_link_libraries(popsift-demo PUBLIC ${CUDA_NVTX_LIBRARY})
+  list(APPEND PD_LINK_LIBS ${CUDA_NVTX_LIBRARY})
 endif(USE_NVTX_PROFILING)
 
+#############################################################
+# popsift-demo
+#############################################################
+
+add_executable(popsift-demo  main.cpp pgmread.cpp pgmread.h)
+
+set_property(TARGET popsift-demo PROPERTY CXX_STANDARD 11)
+
+target_compile_options(popsift-demo PRIVATE ${PD_COMPILE_OPTIONS} )
+target_include_directories(popsift-demo PUBLIC ${PD_INCLUDE_DIRS})
+target_compile_definitions(popsift-demo PRIVATE ${Boost_DEFINITIONS} BOOST_ALL_DYN_LINK BOOST_ALL_NO_LIB)
+target_link_libraries(popsift-demo PUBLIC PopSift::popsift ${PD_LINK_LIBS})
+
+set_target_properties(popsift-demo  PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}" )
+
+#############################################################
+# popsift-match
+#############################################################
+
+add_executable(popsift-match match.cpp pgmread.cpp pgmread.h)
+
+set_property(TARGET popsift-match PROPERTY CXX_STANDARD 11)
+
+target_compile_options(popsift-match PRIVATE ${PD_COMPILE_OPTIONS} )
+target_include_directories(popsift-match PUBLIC ${PD_INCLUDE_DIRS})
+target_compile_definitions(popsift-match PRIVATE ${Boost_DEFINITIONS} BOOST_ALL_DYN_LINK BOOST_ALL_NO_LIB)
+target_link_libraries(popsift-match PUBLIC PopSift::popsift ${PD_LINK_LIBS})
+
+set_target_properties(popsift-match  PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}" )
 
-# set(EXECUTABLE_OUTPUT_PATH ${PROJECT_BINARY_DIR})
-set_target_properties(popsift-demo PROPERTIES RUNTIME_OUTPUT_DIRECTORY "${CMAKE_BINARY_DIR}" )
+#############################################################
+# installation
+#############################################################
 
 install(TARGETS popsift-demo DESTINATION bin)

src/application/main.cpp

@@ -20,14 +20,14 @@
 #include <boost/filesystem.hpp>
 
 #include <popsift/popsift.h>
+#include <popsift/features.h>
 #include <popsift/sift_conf.h>
 #include <popsift/common/device_prop.h>
 
 #ifdef USE_DEVIL
 #include <devil_cpp_wrapper.hpp>
-#else
-#include "pgmread.h"
 #endif
+#include "pgmread.h"
 
 #ifdef USE_NVTX
 #include <nvToolsExtCuda.h>
@@ -42,6 +42,7 @@ static bool print_dev_info  = false;
 static bool print_time_info = false;
 static bool write_as_uchar  = false;
 static bool dont_write      = false;
+static bool pgmread_loading = false;
 
 static void parseargs(int argc, char** argv, popsift::Config& config, string& inputFile) {
     using namespace boost::program_options;
@@ -78,7 +79,8 @@ static void parseargs(int argc, char** argv, popsift::Config& config, string& in
         ("desc-mode", value<std::string>()->notifier([&](const std::string& s) { config.setDescMode(s); }),
         "Choice of descriptor extraction modes:\n"
         "loop, iloop, grid, igrid, notile\n"
-        "Default is OpenCV-like horizontal scan, computing only valid points (loop), grid extracts only useful points but rounds them, iloop uses linear texture and rotated gradiant fetching. igrid is grid with linear interpolation. notile is like igrid but avoids redundant gradiant fetching.")
+	"Default is loop\n"
+        "loop is OpenCV-like horizontal scanning, computing only valid points, grid extracts only useful points but rounds them, iloop uses linear texture and rotated gradiant fetching. igrid is grid with linear interpolation. notile is like igrid but avoids redundant gradiant fetching.")
         ("popsift-mode", bool_switch()->notifier([&](bool b) { if(b) config.setMode(popsift::Config::PopSift); }),
         "During the initial upscale, shift pixels by 1. In extrema refinement, steps up to 0.6, do not reject points when reaching max iterations, "
         "first contrast threshold is .8 * peak thresh. Shift feature coords octave 0 back to original pos.")
@@ -97,7 +99,10 @@ static void parseargs(int argc, char** argv, popsift::Config& config, string& in
          "Direct each octave from upscaled orig instead of blurred level.")
         ("root-sift", bool_switch()->notifier([&](bool b) { if(b) config.setUseRootSift(true); }),
         "Use the L1-based norm for OpenMVG rather than L2-based as in OpenCV")
-        ("norm-multi", value<int>()->notifier([&](int i) {config.setNormalizationMultiplier(i); }), "Multiply the descriptor by pow(2,<int>).");
+        ("norm-multi", value<int>()->notifier([&](int i) {config.setNormalizationMultiplier(i); }), "Multiply the descriptor by pow(2,<int>).")
+        ("filter-max-extrema", value<int>()->notifier([&](int f) {config.setFilterMaxExtrema(f); }), "Approximate max number of extrema.")
+        ("filter-grid", value<int>()->notifier([&](int f) {config.setFilterGridSize(f); }), "Grid edge length for extrema filtering (ie. value 4 leads to a 4x4 grid)")
+        ("filter-sort", value<std::string>()->notifier([&](const std::string& s) {config.setFilterSorting(s); }), "Sort extrema in each cell by scale, either random (default), up or down");
 
     }
     options_description informational("Informational");
@@ -106,8 +111,11 @@ static void parseargs(int argc, char** argv, popsift::Config& config, string& in
         ("print-gauss-tables", bool_switch()->notifier([&](bool b) { if(b) config.setPrintGaussTables(); }), "A debug output printing Gauss filter size and tables")
         ("print-dev-info", bool_switch(&print_dev_info)->default_value(false), "A debug output printing CUDA device information")
         ("print-time-info", bool_switch(&print_time_info)->default_value(false), "A debug output printing image processing time after load()")
-        ("write-as-uchar", bool_switch(&write_as_uchar)->default_value(false), "Output descriptors rounded to int Scaling to sensible ranges is not automatic, should be combined with --norm-multi=9 or similar")
-        ("dont-write", bool_switch(&dont_write)->default_value(false), "Suppress descriptor output");
+        ("write-as-uchar", bool_switch(&write_as_uchar)->default_value(false), "Output descriptors rounded to int.\n"
+         "Scaling to sensible ranges is not automatic, should be combined with --norm-multi=9 or similar")
+        ("dont-write", bool_switch(&dont_write)->default_value(false), "Suppress descriptor output")
+        ("pgmread-loading", bool_switch(&pgmread_loading)->default_value(false), "Use the old image loader instead of LibDevIL")
+        ;
 
         //("test-direct-scaling")
     }
@@ -157,46 +165,61 @@ SiftJob* process_image( const string& inputFile, PopSift& PopSift )
     int w;
     int h;
     unsigned char* image_data;
+    SiftJob* job;
 
-    nvtxRangePushA( "load and convert image" );
 #ifdef USE_DEVIL
-    ilImage img;
-    if( img.Load( inputFile.c_str() ) == false ) {
-        cerr << "Could not load image " << inputFile << endl;
-        return 0;
-    }
-    if( img.Convert( IL_LUMINANCE ) == false ) {
-        cerr << "Failed converting image " << inputFile << " to unsigned greyscale image" << endl;
-        exit( -1 );
-    }
-    w = img.Width();
-    h = img.Height();
-    cout << "Loading " << w << " x " << h << " image " << inputFile << endl;
-    image_data = img.GetData();
-#else
-    image_data = readPGMfile( inputFile, w, h );
-    if( image_data == 0 ) {
-        exit( -1 );
+    if( not pgmread_loading )
+    {
+        nvtxRangePushA( "load and convert image - devil" );
+
+        ilImage img;
+        if( img.Load( inputFile.c_str() ) == false ) {
+            cerr << "Could not load image " << inputFile << endl;
+            return 0;
+        }
+        if( img.Convert( IL_LUMINANCE ) == false ) {
+            cerr << "Failed converting image " << inputFile << " to unsigned greyscale image" << endl;
+            exit( -1 );
+        }
+        w = img.Width();
+        h = img.Height();
+        cout << "Loading " << w << " x " << h << " image " << inputFile << endl;
+        image_data = img.GetData();
+
+        nvtxRangePop( ); // "load and convert image - devil"
+
+        // PopSift.init( w, h );
+        job = PopSift.enqueue( w, h, image_data );
+
+        img.Clear();
     }
+    else
 #endif
-    nvtxRangePop( );
+    {
+        nvtxRangePushA( "load and convert image - pgmread" );
 
-    // PopSift.init( w, h );
-    SiftJob* job = PopSift.enqueue( w, h, image_data );
+        image_data = readPGMfile( inputFile, w, h );
+        if( image_data == 0 ) {
+            exit( -1 );
+        }
 
-#ifdef USE_DEVIL
-    img.Clear();
-#else
-    delete [] image_data;
-#endif
+        nvtxRangePop( ); // "load and convert image - pgmread"
+
+        // PopSift.init( w, h );
+        job = PopSift.enqueue( w, h, image_data );
+
+        delete [] image_data;
+    }
 
     return job;
 }
 
 void read_job( SiftJob* job, bool really_write )
 {
     popsift::Features* feature_list = job->get();
-    cerr << "Number of features: " << feature_list->size() << endl;
+    cerr << "Number of feature points: " << feature_list->getFeatureCount()
+         << " number of feature descriptors: " << feature_list->getDescriptorCount()
+         << endl;
 
     if( really_write ) {
         nvtxRangePushA( "Writing features to disk" );
@@ -207,7 +230,7 @@ void read_job( SiftJob* job, bool really_write )
     delete feature_list;
 
     if( really_write ) {
-        nvtxRangePop( );
+        nvtxRangePop( ); // Writing features to disk
     }
 }