GPU ORB Extractor Package#

The library implements ORB feature extractor running using CPU and GPU.

The ORB feature extractor is based on OpenVSLAM version.

This ORB feature extractor can be easily integrated into Visual SLAM. After initializing the orb_extractor object, the extract function can be called for every input frame. The extract function returns a set of key points and descriptors.

The ORB feature extractor is composed of various OpenCV kernels, such as resize, Gaussian, fast, and compute descriptor and orientation. Additionally, non-OpenCV functions, like distributing key points via a tree, are also included.

All OpenCV-related kernels have been offloaded to Intel® GPU using the oneAPI Level Zero interface, and GPU kernels are written using C-for-Metal. Non-OpenCV functions will run on the CPU.

System Requirements#

  1. Ubuntu 20.04 or 22.04.

  2. OpenCV 4.2.

    Currently the library only supports OpenCV 4.0 to 4.2. OpenCV versions above 4.2 are not supported due to a change of the OpenCV Mat class.

  3. Intel level zero runtime driver.

    For installation instructions, refer to https://dgpu-docs.intel.com/installation-guides/index.html#intel-gen12-dg1-gpus.

Directory Structure#

  libgpu_orb/
  ├── include/
  │   └── orb_extractor.h
  ├── lib/
  │   ├── libgpu_orb.so
  │   ├── fastclear_genx.bin
  │   ├── fastext_genx.bin
  │   ├── fastnmsext_genx.bin
  │   ├── gaussian_genx.bin
  │   ├── resize_genx.bin
  │   └── orb_descriptor_genx.bin
  └── samples/
      ├── CMakeLists.txt
      ├── main.cpp
      ├── market.jpg
      └── tutorial.md

1) include - Class header that provides configurable options for this library
2) lib - Host code libgpu_orb.so and all `*`.bin are compiled GPU kernels.
3) samples - Samples code to show how to use the library for either mono camera or stereo camera.

Build and run sample code#

cd samples
mkdir build
cd build
cmake ../
make -j8
### Run the sample
./feature_extract

Troubleshooting#

If segmentation fault occurs, please do following steps.

#Do confirm gpu driver is loaded or not
lsmod | grep i915

#Add username in render group
sudo usermod -a -G render <userName>