Unable to use detected keypoints by FastFeatureDetector to compute with ORB (CUDA version)

[jasjuang]

System information (version)

• OpenCV => Latest
• Operating System / Platform => Ubuntu 16.04
• Compiler => GCC 5.4

Detailed description

I am unable to use the detected keypoints found by FastFeatureDetector to compute the descriptors with ORB when using the CUDA API. I was able to do this successfully withe CPU version.

Steps to reproduce

cv::Mat img_cpu = cv::imread("test.png", cv::IMREAD_GRAYSCALE);

cv::cuda::GpuMat img;

img.upload(img_cpu);

cv::Ptr<cv::cuda::ORB> orb =
      cv::cuda::ORB::create(5000, 1.2f, 8, 31, 0, 2, 1, 31, 10, true);

cv::Ptr<cv::cuda::FastFeatureDetector> fast =
      cv::cuda::FastFeatureDetector::create(100, true, 2);

cv::cuda::GpuMat keypointsGPU;
cv::cuda::GpuMat descriptorsGPU;

// this works
orb->detectAsync(img, keypointsGPU);

// but this causes segmentation fault, the same approach works without a problem in cpu 
// fast->detectAsync(img, keypointsGPU);

orb->computeAsync(img, keypointsGPU, descriptorsGPU);

[lukes3315]

Hey running in this issue too, using opencv 3.4.2. Has this issue been fixed in the newer versions?
Thanks.
Cheers.

[jasjuang]

@lukes3315 Unfortunately this problem is still not fixed yet.

[lukes3315]

Do you guys have some pointers by any chance of where the error stems from?
I've been scanning through the fast.cu/cpp sources, my initial intuition from the behavioral aspect of the bug, is it could be coming from a synchronization issue.
Any help would be greatly appreciated thanks!

[max-kazak]

Does anyone know if this has been fixed in the newer versions?
I get segfault even if I use another ORB detector:

cv::Ptr<cv::cuda::ORB> orb = cv::cuda::ORB::create();
cv::Ptr<cv::cuda::ORB> orb2 = cv::cuda::ORB::create();   
...   
orb->detectAsync(img, keypointsGPU);   
orb2->computeAsync(img, keypointsGPU, descriptorsGPU);   

OpenCV version: 3.4.3

[outoftolerance]

This issue is still present in OpenCV v4.7.0 and I suspect is unfixed even in more recent versions.

I have been able to perform detectAsync followed by computeAsync on the same keypoints (unlike max-kazak) in his previous post, but have not been able to upload/use keypoints not generated by the ORB detector itself. I believe they aren't being placed into memory correctly, or the computeAsync function isn't calling the correct memory, causing the segfault outcome.

Could anyone point me to the code? I'd like to contribute a fix but have been unable to find the right file.