├── .gitignore ├── .gitmodules ├── CMakeLists.txt ├── LICENSE ├── README.md ├── example.py ├── setup.py ├── src ├── main.cpp ├── popsift.cpp └── popsift.h ├── test.sh └── tests └── test.py /.gitignore: -------------------------------------------------------------------------------- 1 | # Byte-compiled / optimized / DLL files 2 | __pycache__/ 3 | *.py[cod] 4 | *$py.class 5 | 6 | # C extensions 7 | *.so 8 | 9 | # Distribution / packaging 10 | .Python 11 | build/ 12 | develop-eggs/ 13 | dist/ 14 | downloads/ 15 | eggs/ 16 | .eggs/ 17 | lib/ 18 | lib64/ 19 | parts/ 20 | sdist/ 21 | var/ 22 | wheels/ 23 | pip-wheel-metadata/ 24 | share/python-wheels/ 25 | *.egg-info/ 26 | .installed.cfg 27 | *.egg 28 | MANIFEST 29 | 30 | # PyInstaller 31 | # Usually these files are written by a python script from a template 32 | # before PyInstaller builds the exe, so as to inject date/other infos into it. 33 | *.manifest 34 | *.spec 35 | 36 | # Installer logs 37 | pip-log.txt 38 | pip-delete-this-directory.txt 39 | 40 | # Unit test / coverage reports 41 | htmlcov/ 42 | .tox/ 43 | .nox/ 44 | .coverage 45 | .coverage.* 46 | .cache 47 | nosetests.xml 48 | coverage.xml 49 | *.cover 50 | *.py,cover 51 | .hypothesis/ 52 | .pytest_cache/ 53 | 54 | # Translations 55 | *.mo 56 | *.pot 57 | 58 | # Django stuff: 59 | *.log 60 | local_settings.py 61 | db.sqlite3 62 | db.sqlite3-journal 63 | 64 | # Flask stuff: 65 | instance/ 66 | .webassets-cache 67 | 68 | # Scrapy stuff: 69 | .scrapy 70 | 71 | # Sphinx documentation 72 | docs/_build/ 73 | 74 | # PyBuilder 75 | target/ 76 | 77 | # Jupyter Notebook 78 | .ipynb_checkpoints 79 | 80 | # IPython 81 | profile_default/ 82 | ipython_config.py 83 | 84 | # pyenv 85 | .python-version 86 | 87 | # pipenv 88 | # According to pypa/pipenv#598, it is recommended to include Pipfile.lock in version control. 89 | # However, in case of collaboration, if having platform-specific dependencies or dependencies 90 | # having no cross-platform support, pipenv may install dependencies that don't work, or not 91 | # install all needed dependencies. 92 | #Pipfile.lock 93 | 94 | # PEP 582; used by e.g. github.com/David-OConnor/pyflow 95 | __pypackages__/ 96 | 97 | # Celery stuff 98 | celerybeat-schedule 99 | celerybeat.pid 100 | 101 | # SageMath parsed files 102 | *.sage.py 103 | 104 | # Environments 105 | .env 106 | .venv 107 | env/ 108 | venv/ 109 | ENV/ 110 | env.bak/ 111 | venv.bak/ 112 | 113 | # Spyder project settings 114 | .spyderproject 115 | .spyproject 116 | 117 | # Rope project settings 118 | .ropeproject 119 | 120 | # mkdocs documentation 121 | /site 122 | 123 | # mypy 124 | .mypy_cache/ 125 | .dmypy.json 126 | dmypy.json 127 | 128 | # Pyre type checker 129 | .pyre/ 130 | -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "pybind11"] 2 | path = pybind11 3 | url = https://github.com/pybind/pybind11 4 | -------------------------------------------------------------------------------- /CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 3.14) 2 | project(pypopsift) 3 | 4 | set(CMAKE_CXX_STANDARD 11) 5 | set(CMAKE_CXX_STANDARD_REQUIRED ON) 6 | include(FetchContent) 7 | 8 | set(PopSift_BUILD_EXAMPLES OFF) 9 | FetchContent_Declare( 10 | popsift 11 | GIT_REPOSITORY https://github.com/uav4geo/popsift/ 12 | GIT_TAG develop 13 | ) 14 | set(FETCHCONTENT_QUIET OFF) 15 | FetchContent_MakeAvailable(popsift) 16 | 17 | add_subdirectory(pybind11) 18 | 19 | pybind11_add_module(pypopsift src/main.cpp src/popsift.cpp) 20 | target_link_libraries(pypopsift PUBLIC popsift) 21 | 22 | if (DEFINED OUTPUT_DIR) 23 | set_target_properties(pypopsift PROPERTIES LIBRARY_OUTPUT_DIRECTORY "${OUTPUT_DIR}") 24 | endif() -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | Mozilla Public License Version 2.0 2 | ================================== 3 | 4 | 1. Definitions 5 | -------------- 6 | 7 | 1.1. "Contributor" 8 | means each individual or legal entity that creates, contributes to 9 | the creation of, or owns Covered Software. 10 | 11 | 1.2. "Contributor Version" 12 | means the combination of the Contributions of others (if any) used 13 | by a Contributor and that particular Contributor's Contribution. 14 | 15 | 1.3. "Contribution" 16 | means Covered Software of a particular Contributor. 17 | 18 | 1.4. "Covered Software" 19 | means Source Code Form to which the initial Contributor has attached 20 | the notice in Exhibit A, the Executable Form of such Source Code 21 | Form, and Modifications of such Source Code Form, in each case 22 | including portions thereof. 23 | 24 | 1.5. "Incompatible With Secondary Licenses" 25 | means 26 | 27 | (a) that the initial Contributor has attached the notice described 28 | in Exhibit B to the Covered Software; or 29 | 30 | (b) that the Covered Software was made available under the terms of 31 | version 1.1 or earlier of the License, but not also under the 32 | terms of a Secondary License. 33 | 34 | 1.6. "Executable Form" 35 | means any form of the work other than Source Code Form. 36 | 37 | 1.7. "Larger Work" 38 | means a work that combines Covered Software with other material, in 39 | a separate file or files, that is not Covered Software. 40 | 41 | 1.8. "License" 42 | means this document. 43 | 44 | 1.9. "Licensable" 45 | means having the right to grant, to the maximum extent possible, 46 | whether at the time of the initial grant or subsequently, any and 47 | all of the rights conveyed by this License. 48 | 49 | 1.10. "Modifications" 50 | means any of the following: 51 | 52 | (a) any file in Source Code Form that results from an addition to, 53 | deletion from, or modification of the contents of Covered 54 | Software; or 55 | 56 | (b) any new file in Source Code Form that contains any Covered 57 | Software. 58 | 59 | 1.11. "Patent Claims" of a Contributor 60 | means any patent claim(s), including without limitation, method, 61 | process, and apparatus claims, in any patent Licensable by such 62 | Contributor that would be infringed, but for the grant of the 63 | License, by the making, using, selling, offering for sale, having 64 | made, import, or transfer of either its Contributions or its 65 | Contributor Version. 66 | 67 | 1.12. "Secondary License" 68 | means either the GNU General Public License, Version 2.0, the GNU 69 | Lesser General Public License, Version 2.1, the GNU Affero General 70 | Public License, Version 3.0, or any later versions of those 71 | licenses. 72 | 73 | 1.13. "Source Code Form" 74 | means the form of the work preferred for making modifications. 75 | 76 | 1.14. "You" (or "Your") 77 | means an individual or a legal entity exercising rights under this 78 | License. For legal entities, "You" includes any entity that 79 | controls, is controlled by, or is under common control with You. For 80 | purposes of this definition, "control" means (a) the power, direct 81 | or indirect, to cause the direction or management of such entity, 82 | whether by contract or otherwise, or (b) ownership of more than 83 | fifty percent (50%) of the outstanding shares or beneficial 84 | ownership of such entity. 85 | 86 | 2. License Grants and Conditions 87 | -------------------------------- 88 | 89 | 2.1. Grants 90 | 91 | Each Contributor hereby grants You a world-wide, royalty-free, 92 | non-exclusive license: 93 | 94 | (a) under intellectual property rights (other than patent or trademark) 95 | Licensable by such Contributor to use, reproduce, make available, 96 | modify, display, perform, distribute, and otherwise exploit its 97 | Contributions, either on an unmodified basis, with Modifications, or 98 | as part of a Larger Work; and 99 | 100 | (b) under Patent Claims of such Contributor to make, use, sell, offer 101 | for sale, have made, import, and otherwise transfer either its 102 | Contributions or its Contributor Version. 103 | 104 | 2.2. Effective Date 105 | 106 | The licenses granted in Section 2.1 with respect to any Contribution 107 | become effective for each Contribution on the date the Contributor first 108 | distributes such Contribution. 109 | 110 | 2.3. Limitations on Grant Scope 111 | 112 | The licenses granted in this Section 2 are the only rights granted under 113 | this License. No additional rights or licenses will be implied from the 114 | distribution or licensing of Covered Software under this License. 115 | Notwithstanding Section 2.1(b) above, no patent license is granted by a 116 | Contributor: 117 | 118 | (a) for any code that a Contributor has removed from Covered Software; 119 | or 120 | 121 | (b) for infringements caused by: (i) Your and any other third party's 122 | modifications of Covered Software, or (ii) the combination of its 123 | Contributions with other software (except as part of its Contributor 124 | Version); or 125 | 126 | (c) under Patent Claims infringed by Covered Software in the absence of 127 | its Contributions. 128 | 129 | This License does not grant any rights in the trademarks, service marks, 130 | or logos of any Contributor (except as may be necessary to comply with 131 | the notice requirements in Section 3.4). 132 | 133 | 2.4. Subsequent Licenses 134 | 135 | No Contributor makes additional grants as a result of Your choice to 136 | distribute the Covered Software under a subsequent version of this 137 | License (see Section 10.2) or under the terms of a Secondary License (if 138 | permitted under the terms of Section 3.3). 139 | 140 | 2.5. Representation 141 | 142 | Each Contributor represents that the Contributor believes its 143 | Contributions are its original creation(s) or it has sufficient rights 144 | to grant the rights to its Contributions conveyed by this License. 145 | 146 | 2.6. Fair Use 147 | 148 | This License is not intended to limit any rights You have under 149 | applicable copyright doctrines of fair use, fair dealing, or other 150 | equivalents. 151 | 152 | 2.7. Conditions 153 | 154 | Sections 3.1, 3.2, 3.3, and 3.4 are conditions of the licenses granted 155 | in Section 2.1. 156 | 157 | 3. Responsibilities 158 | ------------------- 159 | 160 | 3.1. Distribution of Source Form 161 | 162 | All distribution of Covered Software in Source Code Form, including any 163 | Modifications that You create or to which You contribute, must be under 164 | the terms of this License. You must inform recipients that the Source 165 | Code Form of the Covered Software is governed by the terms of this 166 | License, and how they can obtain a copy of this License. You may not 167 | attempt to alter or restrict the recipients' rights in the Source Code 168 | Form. 169 | 170 | 3.2. Distribution of Executable Form 171 | 172 | If You distribute Covered Software in Executable Form then: 173 | 174 | (a) such Covered Software must also be made available in Source Code 175 | Form, as described in Section 3.1, and You must inform recipients of 176 | the Executable Form how they can obtain a copy of such Source Code 177 | Form by reasonable means in a timely manner, at a charge no more 178 | than the cost of distribution to the recipient; and 179 | 180 | (b) You may distribute such Executable Form under the terms of this 181 | License, or sublicense it under different terms, provided that the 182 | license for the Executable Form does not attempt to limit or alter 183 | the recipients' rights in the Source Code Form under this License. 184 | 185 | 3.3. Distribution of a Larger Work 186 | 187 | You may create and distribute a Larger Work under terms of Your choice, 188 | provided that You also comply with the requirements of this License for 189 | the Covered Software. If the Larger Work is a combination of Covered 190 | Software with a work governed by one or more Secondary Licenses, and the 191 | Covered Software is not Incompatible With Secondary Licenses, this 192 | License permits You to additionally distribute such Covered Software 193 | under the terms of such Secondary License(s), so that the recipient of 194 | the Larger Work may, at their option, further distribute the Covered 195 | Software under the terms of either this License or such Secondary 196 | License(s). 197 | 198 | 3.4. Notices 199 | 200 | You may not remove or alter the substance of any license notices 201 | (including copyright notices, patent notices, disclaimers of warranty, 202 | or limitations of liability) contained within the Source Code Form of 203 | the Covered Software, except that You may alter any license notices to 204 | the extent required to remedy known factual inaccuracies. 205 | 206 | 3.5. Application of Additional Terms 207 | 208 | You may choose to offer, and to charge a fee for, warranty, support, 209 | indemnity or liability obligations to one or more recipients of Covered 210 | Software. However, You may do so only on Your own behalf, and not on 211 | behalf of any Contributor. You must make it absolutely clear that any 212 | such warranty, support, indemnity, or liability obligation is offered by 213 | You alone, and You hereby agree to indemnify every Contributor for any 214 | liability incurred by such Contributor as a result of warranty, support, 215 | indemnity or liability terms You offer. You may include additional 216 | disclaimers of warranty and limitations of liability specific to any 217 | jurisdiction. 218 | 219 | 4. Inability to Comply Due to Statute or Regulation 220 | --------------------------------------------------- 221 | 222 | If it is impossible for You to comply with any of the terms of this 223 | License with respect to some or all of the Covered Software due to 224 | statute, judicial order, or regulation then You must: (a) comply with 225 | the terms of this License to the maximum extent possible; and (b) 226 | describe the limitations and the code they affect. Such description must 227 | be placed in a text file included with all distributions of the Covered 228 | Software under this License. Except to the extent prohibited by statute 229 | or regulation, such description must be sufficiently detailed for a 230 | recipient of ordinary skill to be able to understand it. 231 | 232 | 5. Termination 233 | -------------- 234 | 235 | 5.1. The rights granted under this License will terminate automatically 236 | if You fail to comply with any of its terms. However, if You become 237 | compliant, then the rights granted under this License from a particular 238 | Contributor are reinstated (a) provisionally, unless and until such 239 | Contributor explicitly and finally terminates Your grants, and (b) on an 240 | ongoing basis, if such Contributor fails to notify You of the 241 | non-compliance by some reasonable means prior to 60 days after You have 242 | come back into compliance. Moreover, Your grants from a particular 243 | Contributor are reinstated on an ongoing basis if such Contributor 244 | notifies You of the non-compliance by some reasonable means, this is the 245 | first time You have received notice of non-compliance with this License 246 | from such Contributor, and You become compliant prior to 30 days after 247 | Your receipt of the notice. 248 | 249 | 5.2. If You initiate litigation against any entity by asserting a patent 250 | infringement claim (excluding declaratory judgment actions, 251 | counter-claims, and cross-claims) alleging that a Contributor Version 252 | directly or indirectly infringes any patent, then the rights granted to 253 | You by any and all Contributors for the Covered Software under Section 254 | 2.1 of this License shall terminate. 255 | 256 | 5.3. In the event of termination under Sections 5.1 or 5.2 above, all 257 | end user license agreements (excluding distributors and resellers) which 258 | have been validly granted by You or Your distributors under this License 259 | prior to termination shall survive termination. 260 | 261 | ************************************************************************ 262 | * * 263 | * 6. Disclaimer of Warranty * 264 | * ------------------------- * 265 | * * 266 | * Covered Software is provided under this License on an "as is" * 267 | * basis, without warranty of any kind, either expressed, implied, or * 268 | * statutory, including, without limitation, warranties that the * 269 | * Covered Software is free of defects, merchantable, fit for a * 270 | * particular purpose or non-infringing. The entire risk as to the * 271 | * quality and performance of the Covered Software is with You. * 272 | * Should any Covered Software prove defective in any respect, You * 273 | * (not any Contributor) assume the cost of any necessary servicing, * 274 | * repair, or correction. This disclaimer of warranty constitutes an * 275 | * essential part of this License. No use of any Covered Software is * 276 | * authorized under this License except under this disclaimer. * 277 | * * 278 | ************************************************************************ 279 | 280 | ************************************************************************ 281 | * * 282 | * 7. Limitation of Liability * 283 | * -------------------------- * 284 | * * 285 | * Under no circumstances and under no legal theory, whether tort * 286 | * (including negligence), contract, or otherwise, shall any * 287 | * Contributor, or anyone who distributes Covered Software as * 288 | * permitted above, be liable to You for any direct, indirect, * 289 | * special, incidental, or consequential damages of any character * 290 | * including, without limitation, damages for lost profits, loss of * 291 | * goodwill, work stoppage, computer failure or malfunction, or any * 292 | * and all other commercial damages or losses, even if such party * 293 | * shall have been informed of the possibility of such damages. This * 294 | * limitation of liability shall not apply to liability for death or * 295 | * personal injury resulting from such party's negligence to the * 296 | * extent applicable law prohibits such limitation. Some * 297 | * jurisdictions do not allow the exclusion or limitation of * 298 | * incidental or consequential damages, so this exclusion and * 299 | * limitation may not apply to You. * 300 | * * 301 | ************************************************************************ 302 | 303 | 8. Litigation 304 | ------------- 305 | 306 | Any litigation relating to this License may be brought only in the 307 | courts of a jurisdiction where the defendant maintains its principal 308 | place of business and such litigation shall be governed by laws of that 309 | jurisdiction, without reference to its conflict-of-law provisions. 310 | Nothing in this Section shall prevent a party's ability to bring 311 | cross-claims or counter-claims. 312 | 313 | 9. Miscellaneous 314 | ---------------- 315 | 316 | This License represents the complete agreement concerning the subject 317 | matter hereof. If any provision of this License is held to be 318 | unenforceable, such provision shall be reformed only to the extent 319 | necessary to make it enforceable. Any law or regulation which provides 320 | that the language of a contract shall be construed against the drafter 321 | shall not be used to construe this License against a Contributor. 322 | 323 | 10. Versions of the License 324 | --------------------------- 325 | 326 | 10.1. New Versions 327 | 328 | Mozilla Foundation is the license steward. Except as provided in Section 329 | 10.3, no one other than the license steward has the right to modify or 330 | publish new versions of this License. Each version will be given a 331 | distinguishing version number. 332 | 333 | 10.2. Effect of New Versions 334 | 335 | You may distribute the Covered Software under the terms of the version 336 | of the License under which You originally received the Covered Software, 337 | or under the terms of any subsequent version published by the license 338 | steward. 339 | 340 | 10.3. Modified Versions 341 | 342 | If you create software not governed by this License, and you want to 343 | create a new license for such software, you may create and use a 344 | modified version of this License if you rename the license and remove 345 | any references to the name of the license steward (except to note that 346 | such modified license differs from this License). 347 | 348 | 10.4. Distributing Source Code Form that is Incompatible With Secondary 349 | Licenses 350 | 351 | If You choose to distribute Source Code Form that is Incompatible With 352 | Secondary Licenses under the terms of this version of the License, the 353 | notice described in Exhibit B of this License must be attached. 354 | 355 | Exhibit A - Source Code Form License Notice 356 | ------------------------------------------- 357 | 358 | This Source Code Form is subject to the terms of the Mozilla Public 359 | License, v. 2.0. If a copy of the MPL was not distributed with this 360 | file, You can obtain one at http://mozilla.org/MPL/2.0/. 361 | 362 | If it is not possible or desirable to put the notice in a particular 363 | file, then You may include the notice in a location (such as a LICENSE 364 | file in a relevant directory) where a recipient would be likely to look 365 | for such a notice. 366 | 367 | You may add additional accurate notices of copyright ownership. 368 | 369 | Exhibit B - "Incompatible With Secondary Licenses" Notice 370 | --------------------------------------------------------- 371 | 372 | This Source Code Form is "Incompatible With Secondary Licenses", as 373 | defined by the Mozilla Public License, v. 2.0. 374 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # pypopsift 2 | CUDA accelerated SIFT in Python 3 | 4 | This library is a wrapper around [PopSift](https://github.com/alicevision/popsift) to compute SIFT keypoints and descriptors on the GPU using CUDA. It's written to be a drop-in replacement for existing OpenCV functions such as `cv2.FeatureDetector_create('SIFT')` and ` cv2.DescriptorExtractor_create('SIFT')`. 5 | 6 | ## Building 7 | 8 | Requirements: 9 | * CUDA Toolkit >= 7 10 | * CMake >= 3.14 11 | * A C++11 capable compiler (g++ 5.4.0 works fine) 12 | 13 | ``` 14 | # git clone --recurse-submodules https://github.com/uav4geo/pypopsift 15 | # cd pypopsift && mkdir build && cd build 16 | # make -j8 17 | ``` 18 | 19 | To install the Python package: 20 | 21 | ``` 22 | # cd pypopsift 23 | # pip install . 24 | ``` 25 | 26 | ## Usage 27 | 28 | ``` 29 | import cv2 30 | import numpy as np 31 | from pypopsift import popsift 32 | 33 | filename = "/path/to/image.JPG" 34 | config = { 35 | 'sift_peak_threshold': 0.1, 36 | 'sift_edge_threshold': 10.0, 37 | 'feature_min_frames': 8000, 38 | 'feature_use_adaptive_suppression': False, 39 | 'feature_process_size': 2048 40 | } 41 | 42 | def resized_image(image, config): 43 | """Resize image to feature_process_size.""" 44 | max_size = config['feature_process_size'] 45 | h, w, _ = image.shape 46 | size = max(w, h) 47 | if 0 < max_size < size: 48 | dsize = w * max_size // size, h * max_size // size 49 | return cv2.resize(image, dsize=dsize, interpolation=cv2.INTER_AREA) 50 | else: 51 | return image 52 | 53 | flags = cv2.IMREAD_COLOR 54 | image = cv2.imread(filename, flags) 55 | 56 | if image is None: 57 | raise IOError("Unable to load image {}".format(filename)) 58 | 59 | if len(image.shape) == 3: 60 | image[:, :, :3] = image[:, :, [2, 1, 0]] 61 | 62 | assert len(image.shape) == 3 63 | image = resized_image(image, config) 64 | image = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY) 65 | 66 | points, desc = popsift(image.astype(np.uint8), # values between 0, 1 67 | peak_threshold=config['sift_peak_threshold'], 68 | edge_threshold=config['sift_edge_threshold'], 69 | target_num_features=config['feature_min_frames']) 70 | print(points.shape) 71 | print(points) 72 | print(desc.shape) 73 | print(desc) 74 | ``` 75 | 76 | ## License 77 | 78 | Mozilla Public License 2.0 79 | 80 | ## Acknowledgements 81 | 82 | ``` 83 | @inproceedings{Griwodz2018Popsift, 84 | author = {Griwodz, Carsten and Calvet, Lilian and Halvorsen, P{\aa}l}, 85 | title = {Popsift: A Faithful SIFT Implementation for Real-time Applications}, 86 | booktitle = {Proceedings of the 9th {ACM} Multimedia Systems Conference}, 87 | series = {MMSys '18}, 88 | year = {2018}, 89 | isbn = {978-1-4503-5192-8}, 90 | location = {Amsterdam, Netherlands}, 91 | pages = {415--420}, 92 | numpages = {6}, 93 | doi = {10.1145/3204949.3208136}, 94 | acmid = {3208136}, 95 | publisher = {ACM}, 96 | address = {New York, NY, USA}, 97 | } 98 | ``` 99 | -------------------------------------------------------------------------------- /example.py: -------------------------------------------------------------------------------- 1 | import cv2 2 | import numpy as np 3 | from pypopsift import popsift 4 | import time 5 | 6 | print("Loading image...") 7 | 8 | files = [ 9 | "/datasets/brighton2/images/DJI_0018.JPG", 10 | "/datasets/brighton2/images/DJI_0019.JPG", 11 | ] 12 | config = { 13 | 'sift_peak_threshold': 0.1, 14 | 'sift_edge_threshold': 10.0, 15 | 'feature_min_frames': 8000, 16 | 'feature_use_adaptive_suppression': False, 17 | 'feature_process_size': 2048 18 | } 19 | 20 | def resized_image(image, config): 21 | """Resize image to feature_process_size.""" 22 | max_size = config['feature_process_size'] 23 | h, w, _ = image.shape 24 | size = max(w, h) 25 | if 0 < max_size < size: 26 | dsize = w * max_size // size, h * max_size // size 27 | return cv2.resize(image, dsize=dsize, interpolation=cv2.INTER_AREA) 28 | else: 29 | return image 30 | 31 | def get_downsampling(image, config): 32 | max_size = config['feature_process_size'] 33 | h, w, _ = image.shape 34 | size = max(w, h) 35 | if 0 < max_size < size: 36 | if w == size: 37 | return w / float(max_size) 38 | elif h == size: 39 | return h / float(max_size) 40 | else: 41 | return -1 42 | 43 | for filename in files: 44 | flags = cv2.IMREAD_COLOR 45 | image = cv2.imread(filename, flags) 46 | 47 | if image is None: 48 | raise IOError("Unable to load image {}".format(filename)) 49 | 50 | if len(image.shape) == 3: 51 | image[:, :, :3] = image[:, :, [2, 1, 0]] 52 | 53 | assert len(image.shape) == 3 54 | image = resized_image(image, config) 55 | image = cv2.cvtColor(image, cv2.COLOR_RGB2GRAY) 56 | 57 | print("Computing features...") 58 | start = time.time() 59 | points, desc = popsift(image.astype(np.float32) / 255, # values between 0, 1 60 | peak_threshold=config['sift_peak_threshold'], 61 | edge_threshold=config['sift_edge_threshold'], 62 | target_num_features=config['feature_min_frames'], 63 | downsampling=downsampling) 64 | 65 | print(points.shape) 66 | print(points) 67 | print(desc.shape) 68 | print(desc) 69 | print("Features computed in {:.3f} seconds".format(time.time() - start)) 70 | 71 | -------------------------------------------------------------------------------- /setup.py: -------------------------------------------------------------------------------- 1 | import os 2 | import re 3 | import sys 4 | import platform 5 | import subprocess 6 | import shutil 7 | 8 | from setuptools import setup, Extension 9 | from setuptools.command.build_ext import build_ext 10 | from setuptools.command.install_lib import install_lib 11 | from distutils.version import LooseVersion 12 | 13 | PACKAGE_NAME = 'pypopsift' 14 | 15 | class CMakeExtension(Extension): 16 | def __init__(self, name, sourcedir=''): 17 | Extension.__init__(self, name, sources=[]) 18 | self.sourcedir = os.path.abspath(sourcedir) 19 | 20 | 21 | class CMakeBuild(build_ext): 22 | def run(self): 23 | try: 24 | out = subprocess.check_output(['cmake', '--version']) 25 | except OSError: 26 | raise RuntimeError("CMake must be installed to build the following extensions: " + 27 | ", ".join(e.name for e in self.extensions)) 28 | 29 | if platform.system() == "Windows": 30 | cmake_version = LooseVersion(re.search(r'version\s*([\d.]+)', out.decode()).group(1)) 31 | if cmake_version < '3.1.0': 32 | raise RuntimeError("CMake >= 3.1.0 is required on Windows") 33 | 34 | for ext in self.extensions: 35 | self.build_extension(ext) 36 | 37 | def build_extension(self, ext): 38 | extdir = os.path.abspath(os.path.dirname(self.get_ext_fullpath(ext.name))) 39 | # required for auto-detection of auxiliary "native" libs 40 | if not extdir.endswith(os.path.sep): 41 | extdir += os.path.sep 42 | 43 | cmake_args = ['-DCMAKE_LIBRARY_OUTPUT_DIRECTORY=' + extdir, 44 | '-DPYTHON_EXECUTABLE=' + sys.executable] 45 | 46 | cfg = 'Debug' if self.debug else 'Release' 47 | build_args = ['--config', cfg] 48 | 49 | self.distribution.bin_dir = extdir 50 | 51 | if platform.system() == "Windows": 52 | cmake_args += ['-DCMAKE_LIBRARY_OUTPUT_DIRECTORY_{}={}'.format(cfg.upper(), extdir)] 53 | if sys.maxsize > 2**32: 54 | cmake_args += ['-A', 'x64'] 55 | build_args += ['--', '/m'] 56 | else: 57 | cmake_args += ['-DCMAKE_BUILD_TYPE=' + cfg] 58 | build_args += ['--', '-j4'] 59 | 60 | env = os.environ.copy() 61 | env['CXXFLAGS'] = '{} -DVERSION_INFO=\\"{}\\"'.format(env.get('CXXFLAGS', ''), 62 | self.distribution.get_version()) 63 | if not os.path.exists(self.build_temp): 64 | os.makedirs(self.build_temp) 65 | 66 | subprocess.check_call(['cmake', ext.sourcedir] + cmake_args, cwd=self.build_temp, env=env) 67 | subprocess.check_call(['cmake', '--build', '.'] + build_args, cwd=self.build_temp) 68 | 69 | setup( 70 | name=PACKAGE_NAME, 71 | version='1.0.0', 72 | author='Piero Toffanin', 73 | author_email='pt@uav4geo.com', 74 | description='Python module for CUDA accelerated GPU SIFT ', 75 | long_description='', 76 | ext_modules=[CMakeExtension(PACKAGE_NAME)], 77 | cmdclass=dict(build_ext=CMakeBuild), 78 | zip_safe=False, 79 | ) 80 | -------------------------------------------------------------------------------- /src/main.cpp: -------------------------------------------------------------------------------- 1 | #include 2 | #include "popsift.h" 3 | 4 | namespace py = pybind11; 5 | 6 | PYBIND11_MODULE(pypopsift, m) { 7 | m.doc() = R"pbdoc( 8 | pypopsift: Python module for CUDA accelerated GPU SIFT 9 | ----------------------- 10 | 11 | .. currentmodule:: pypopsift 12 | 13 | .. autosummary:: 14 | :toctree: _generate 15 | 16 | popsift 17 | )pbdoc"; 18 | 19 | m.def("popsift", pps::popsift, 20 | py::arg("image"), 21 | py::arg("peak_threshold") = 0.1, 22 | py::arg("edge_threshold") = 10, 23 | py::arg("target_num_features") = 4000, 24 | py::arg("use_root") = true, 25 | py::arg("downsampling") = -1 26 | ); 27 | 28 | #ifdef VERSION_INFO 29 | m.attr("__version__") = VERSION_INFO; 30 | #else 31 | m.attr("__version__") = "dev"; 32 | #endif 33 | } 34 | -------------------------------------------------------------------------------- /src/popsift.cpp: -------------------------------------------------------------------------------- 1 | 2 | #include "popsift.h" 3 | #include 4 | #include 5 | #include 6 | 7 | namespace pps{ 8 | 9 | PopSiftContext *ctx = nullptr; 10 | std::mutex g_mutex; 11 | 12 | PopSiftContext::PopSiftContext() : ps(nullptr){ 13 | popsift::cuda::device_prop_t deviceInfo; 14 | deviceInfo.set(0, false); 15 | } 16 | 17 | PopSiftContext::~PopSiftContext(){ 18 | ps->uninit(); 19 | delete ps; 20 | ps = nullptr; 21 | } 22 | 23 | void PopSiftContext::setup(float peak_threshold, float edge_threshold, bool use_root, float downsampling){ 24 | bool changed = false; 25 | if (this->peak_threshold != peak_threshold) { this->peak_threshold = peak_threshold; changed = true; } 26 | if (this->edge_threshold != edge_threshold) { this->edge_threshold = edge_threshold; changed = true; } 27 | if (this->use_root != use_root) { this->use_root = use_root; changed = true; } 28 | if (this->downsampling != downsampling) { this->downsampling = downsampling; changed = true; } 29 | 30 | if (changed){ 31 | config.setThreshold(peak_threshold); 32 | config.setEdgeLimit(edge_threshold); 33 | config.setNormMode(use_root ? popsift::Config::RootSift : popsift::Config::Classic ); 34 | config.setFilterSorting(popsift::Config::LargestScaleFirst); 35 | config.setMode(popsift::Config::OpenCV); 36 | config.setDownsampling(downsampling); 37 | // config.setOctaves(4); 38 | // config.setLevels(3); 39 | 40 | if (!ps){ 41 | ps = new PopSift(config, 42 | popsift::Config::ProcessingMode::ExtractingMode, 43 | PopSift::ByteImages ); 44 | }else{ 45 | ps->configure(config, false); 46 | } 47 | } 48 | } 49 | 50 | PopSift *PopSiftContext::get(){ 51 | return ps; 52 | } 53 | 54 | py::object popsift(pyarray_uint8 image, 55 | float peak_threshold, 56 | float edge_threshold, 57 | int target_num_features, 58 | bool use_root, 59 | float downsampling) { 60 | py::gil_scoped_release release; 61 | 62 | if (!image.size()) return py::none(); 63 | 64 | if (!ctx) ctx = new PopSiftContext(); 65 | 66 | int width = image.shape(1); 67 | int height = image.shape(0); 68 | int numFeatures = 0; 69 | 70 | while(true){ 71 | g_mutex.lock(); 72 | ctx->setup(peak_threshold, edge_threshold, use_root, downsampling); 73 | std::unique_ptr job(ctx->get()->enqueue( width, height, image.data() )); 74 | std::unique_ptr result(job->get()); 75 | g_mutex.unlock(); 76 | 77 | numFeatures = result->getFeatureCount(); 78 | 79 | if (numFeatures >= target_num_features || peak_threshold < 0.0001){ 80 | popsift::Feature* feature_list = result->getFeatures(); 81 | std::vector points(4 * numFeatures); 82 | std::vector desc(128 * numFeatures); 83 | 84 | for (size_t i = 0; i < numFeatures; i++){ 85 | popsift::Feature pFeat = feature_list[i]; 86 | 87 | for(int oriIdx = 0; oriIdx < pFeat.num_ori; oriIdx++){ 88 | const popsift::Descriptor* pDesc = pFeat.desc[oriIdx]; 89 | 90 | for (int k = 0; k < 128; k++){ 91 | desc[128 * i + k] = pDesc->features[k]; 92 | } 93 | 94 | points[4 * i + 0] = std::min(std::round(pFeat.xpos), width - 1); 95 | points[4 * i + 1] = std::min(std::round(pFeat.ypos), height - 1); 96 | points[4 * i + 2] = pFeat.sigma; 97 | points[4 * i + 3] = pFeat.orientation[oriIdx]; 98 | } 99 | } 100 | 101 | py::list retn; 102 | retn.append(py_array_from_data(&points[0], numFeatures, 4)); 103 | retn.append(py_array_from_data(&desc[0], numFeatures, 128)); 104 | return retn; 105 | }else{ 106 | // Lower peak threshold if we don't meet the target 107 | peak_threshold = (peak_threshold * 2.0) / 3.0; 108 | } 109 | } 110 | 111 | // We should never get here 112 | return py::none(); 113 | } 114 | 115 | } -------------------------------------------------------------------------------- /src/popsift.h: -------------------------------------------------------------------------------- 1 | #include 2 | #include 3 | #include 4 | #include 5 | #include 6 | #include 7 | #include 8 | #include 9 | 10 | #include 11 | 12 | namespace py = pybind11; 13 | 14 | namespace pps{ 15 | 16 | typedef py::array_t pyarray_f; 17 | typedef py::array_t pyarray_d; 18 | typedef py::array_t pyarray_int; 19 | typedef py::array_t pyarray_uint8; 20 | 21 | template 22 | py::array_t py_array_from_data(const T *data, size_t shape0) { 23 | py::array_t res({shape0}); 24 | std::copy(data, data + shape0, res.mutable_data()); 25 | return res; 26 | } 27 | 28 | template 29 | py::array_t py_array_from_data(const T *data, size_t shape0, size_t shape1) { 30 | py::array_t res({shape0, shape1}); 31 | std::copy(data, data + shape0 * shape1, res.mutable_data()); 32 | return res; 33 | } 34 | 35 | template 36 | py::array_t py_array_from_data(const T *data, size_t shape0, size_t shape1, size_t shape2) { 37 | py::array_t res({shape0, shape1, shape2}); 38 | std::copy(data, data + shape0 * shape1 * shape2, res.mutable_data()); 39 | return res; 40 | } 41 | 42 | class PopSiftContext{ 43 | PopSift *ps; 44 | popsift::Config config; 45 | 46 | float peak_threshold = 0; 47 | float edge_threshold = 0; 48 | bool use_root = true; 49 | float downsampling = 0; 50 | public: 51 | PopSiftContext(); 52 | ~PopSiftContext(); 53 | 54 | void setup(float peak_threshold, 55 | float edge_threshold, 56 | bool use_root, 57 | float downsampling); 58 | 59 | PopSift *get(); 60 | }; 61 | 62 | py::object popsift(pyarray_uint8 image, 63 | float peak_threshold, 64 | float edge_threshold, 65 | int target_num_features, 66 | bool use_root, 67 | float downsampling); 68 | 69 | } 70 | -------------------------------------------------------------------------------- /test.sh: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | pip install . 4 | python2 example.py 5 | -------------------------------------------------------------------------------- /tests/test.py: -------------------------------------------------------------------------------- 1 | import pypopsift as m 2 | 3 | #assert m.TODO == 3 4 | 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