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Remove dublicated SIFT-Dectector instance in feature matching #1053

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Remove dublicated SIFT-Dectector instance in feature matching #1053

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6 changes: 6 additions & 0 deletions opensfm/config.py
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,12 @@ class OpenSfMConfig:
sift_peak_threshold: float = 0.1
# See OpenCV doc
sift_edge_threshold: int = 10
# See OpenCV doc
sift_nfeatures: int = 0
# See OpenCV doc
sift_octave_layers: int = 3
# See OpenCV doc
sift_sigma: float = 1.6

##################################
# Params for SURF
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48 changes: 20 additions & 28 deletions opensfm/features.py
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Expand Up @@ -353,45 +353,36 @@ def extract_features_sift(
) -> Tuple[np.ndarray, np.ndarray]:
sift_edge_threshold = config["sift_edge_threshold"]
sift_peak_threshold = float(config["sift_peak_threshold"])
# SIFT support is in cv2 main from version 4.4.0
if context.OPENCV44 or context.OPENCV5:
# OpenCV versions concerned /** 3.4.11, >= 4.4.0 **/ ==> Sift became free since March 2020
detector = cv2.SIFT_create(
edgeThreshold=sift_edge_threshold, contrastThreshold=sift_peak_threshold
)
descriptor = detector
elif context.OPENCV3 or context.OPENCV4:
try:
# OpenCV versions concerned /** 3.2.x, 3.3.x, 3.4.0, 3.4.1, 3.4.2, 3.4.10, 4.3.0, 4.4.0 **/
detector = cv2.xfeatures2d.SIFT_create(
edgeThreshold=sift_edge_threshold, contrastThreshold=sift_peak_threshold
)
except AttributeError as ae:
# OpenCV versions concerned /** 3.4.3, 3.4.4, 3.4.5, 3.4.6, 3.4.7, 3.4.8, 3.4.9, 4.0.x, 4.1.x, 4.2.x **/
if "no attribute 'xfeatures2d'" in str(ae):
logger.error(
"OpenCV Contrib modules are required to extract SIFT features"
)
raise
descriptor = detector
else:
detector = cv2.FeatureDetector_create("SIFT")
descriptor = cv2.DescriptorExtractor_create("SIFT")
detector.setDouble("edgeThreshold", sift_edge_threshold)
sift_nfeatures = config["sift_nfeatures"]
sift_octave_layers = config["sift_octave_layers"]
sift_sigma = float(config["sift_sigma"])
while True:
logger.debug("Computing sift with threshold {0}".format(sift_peak_threshold))
t = time.time()
# SIFT support is in cv2 main from version 4.4.0
if context.OPENCV44 or context.OPENCV5:
detector = cv2.SIFT_create(
edgeThreshold=sift_edge_threshold, contrastThreshold=sift_peak_threshold
nfeatures=sift_nfeatures,
nOctaveLayers=sift_octave_layers,
contrastThreshold=sift_peak_threshold,
edgeThreshold=sift_edge_threshold,
sigma=sift_sigma,
)
descriptor = detector
elif context.OPENCV3:
detector = cv2.xfeatures2d.SIFT_create(
edgeThreshold=sift_edge_threshold, contrastThreshold=sift_peak_threshold
nfeatures=sift_nfeatures,
nOctaveLayers=sift_octave_layers,
contrastThreshold=sift_peak_threshold,
edgeThreshold=sift_edge_threshold,
sigma=sift_sigma,
)
descriptor = detector
else:
detector.setDouble("contrastThreshold", sift_peak_threshold)
detector = cv2.FeatureDetector_create("SIFT")
descriptor = cv2.DescriptorExtractor_create("SIFT")
detector.setDouble("edgeThreshold", sift_edge_threshold)

points = detector.detect(image)
logger.debug("Found {0} points in {1}s".format(len(points), time.time() - t))
if len(points) < features_count and sift_peak_threshold > 0.0001:
Expand All @@ -400,6 +391,7 @@ def extract_features_sift(
else:
logger.debug("done")
break

points, desc = descriptor.compute(image, points)

if desc is not None:
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