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changed tests for rotation/scale invariance of descriptors

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This commit is contained in:
Maria Dimashova 2012-07-16 13:01:55 +00:00
parent ad7a6ec41f
commit 2556bb04f0
2 changed files with 601 additions and 672 deletions
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225
modules/features2d/test/test_rotation_and_scale_invariance.cpp
View File

@ -85,6 +85,32 @@ Mat rotateImage(const Mat& srcImage, float angle, Mat& dstImage, Mat& dstMask)
return H; return H;
} }
void rotateKeyPoints(const vector<KeyPoint>& src, const Mat& H, float angle, vector<KeyPoint>& dst)
{
// suppose that H is rotation given from rotateImage() and angle has value passed to rotateImage()
vector<Point2f> srcCenters, dstCenters;
KeyPoint::convert(src, srcCenters);
perspectiveTransform(srcCenters, dstCenters, H);
dst = src;
for(size_t i = 0; i < dst.size(); i++)
{
dst[i].pt = dstCenters[i];
float dstAngle = src[i].angle + angle;
if(dstAngle >= 360.f)
dstAngle -= 360.f;
dst[i].angle = dstAngle;
}
}
void scaleKeyPoints(const vector<KeyPoint>& src, vector<KeyPoint>& dst, float scale)
{
dst.resize(src.size());
for(size_t i = 0; i < src.size(); i++)
dst[i] = KeyPoint(src[i].pt.x * scale, src[i].pt.y * scale, src[i].size * scale);
}
static static
float calcCirclesIntersectArea(const Point2f& p0, float r0, const Point2f& p1, float r1) float calcCirclesIntersectArea(const Point2f& p0, float r0, const Point2f& p1, float r1)
{ {
@ -269,25 +295,16 @@ protected:
float minAngleInliersRatio; float minAngleInliersRatio;
}; };
void scaleKeyPoints(const vector<KeyPoint>& src, vector<KeyPoint>& dst, float scale)
{
dst.resize(src.size());
for(size_t i = 0; i < src.size(); i++)
dst[i] = KeyPoint(src[i].pt.x * scale, src[i].pt.y * scale, src[i].size * scale);
}
class DescriptorRotationInvarianceTest : public cvtest::BaseTest class DescriptorRotationInvarianceTest : public cvtest::BaseTest
{ {
public: public:
DescriptorRotationInvarianceTest(const Ptr<FeatureDetector>& _featureDetector, DescriptorRotationInvarianceTest(const Ptr<FeatureDetector>& _featureDetector,
const Ptr<DescriptorExtractor>& _descriptorExtractor, const Ptr<DescriptorExtractor>& _descriptorExtractor,
int _normType, int _normType,
float _minKeyPointMatchesRatio,
float _minDescInliersRatio) : float _minDescInliersRatio) :
featureDetector(_featureDetector), featureDetector(_featureDetector),
descriptorExtractor(_descriptorExtractor), descriptorExtractor(_descriptorExtractor),
normType(_normType), normType(_normType),
minKeyPointMatchesRatio(_minKeyPointMatchesRatio),
minDescInliersRatio(_minDescInliersRatio) minDescInliersRatio(_minDescInliersRatio)
{ {
CV_Assert(!featureDetector.empty()); CV_Assert(!featureDetector.empty());
@ -318,50 +335,33 @@ protected:
BFMatcher bfmatcher(normType); BFMatcher bfmatcher(normType);
const float minIntersectRatio = 0.5f;
const int maxAngle = 360, angleStep = 15; const int maxAngle = 360, angleStep = 15;
for(int angle = 0; angle < maxAngle; angle += angleStep) for(int angle = 0; angle < maxAngle; angle += angleStep)
{ {
Mat H = rotateImage(image0, angle, image1, mask1); Mat H = rotateImage(image0, angle, image1, mask1);
vector<KeyPoint> keypoints1; vector<KeyPoint> keypoints1;
rotateKeyPoints(keypoints0, H, angle, keypoints1);
Mat descriptors1; Mat descriptors1;
featureDetector->detect(image1, keypoints1, mask1);
descriptorExtractor->compute(image1, keypoints1, descriptors1); descriptorExtractor->compute(image1, keypoints1, descriptors1);
vector<DMatch> descMatches; vector<DMatch> descMatches;
bfmatcher.match(descriptors0, descriptors1, descMatches); bfmatcher.match(descriptors0, descriptors1, descMatches);
vector<DMatch> keyPointMatches;
matchKeyPoints(keypoints0, H, keypoints1, keyPointMatches);
const float minIntersectRatio = 0.5f;
int keyPointMatchesCount = 0;
for(size_t m = 0; m < keyPointMatches.size(); m++)
{
if(keyPointMatches[m].distance >= minIntersectRatio)
keyPointMatchesCount++;
}
int descInliersCount = 0; int descInliersCount = 0;
for(size_t m = 0; m < descMatches.size(); m++) for(size_t m = 0; m < descMatches.size(); m++)
{ {
int queryIdx = descMatches[m].queryIdx; const KeyPoint& transformed_p0 = keypoints1[descMatches[m].queryIdx];
if(keyPointMatches[queryIdx].distance >= minIntersectRatio && const KeyPoint& p1 = keypoints1[descMatches[m].trainIdx];
descMatches[m].trainIdx == keyPointMatches[queryIdx].trainIdx) if(calcIntersectRatio(transformed_p0.pt, 0.5f * transformed_p0.size,
p1.pt, 0.5f * p1.size) >= minIntersectRatio)
{
descInliersCount++; descInliersCount++;
} }
float keyPointMatchesRatio = static_cast<float>(keyPointMatchesCount) / keypoints0.size();
if(keyPointMatchesRatio < minKeyPointMatchesRatio)
{
ts->printf(cvtest::TS::LOG, "Incorrect keyPointMatchesRatio: curr = %f, min = %f.\n",
keyPointMatchesRatio, minKeyPointMatchesRatio);
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
return;
} }
if(keyPointMatchesCount) float descInliersRatio = static_cast<float>(descInliersCount) / keypoints0.size();
{
float descInliersRatio = static_cast<float>(descInliersCount) / keyPointMatchesCount;
if(descInliersRatio < minDescInliersRatio) if(descInliersRatio < minDescInliersRatio)
{ {
ts->printf(cvtest::TS::LOG, "Incorrect descInliersRatio: curr = %f, min = %f.\n", ts->printf(cvtest::TS::LOG, "Incorrect descInliersRatio: curr = %f, min = %f.\n",
@ -369,10 +369,8 @@ protected:
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY); ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
return; return;
} }
}
#if SHOW_DEBUG_LOG #if SHOW_DEBUG_LOG
std::cout << "keyPointMatchesRatio - " << keyPointMatchesRatio std::cout << "descInliersRatio " << static_cast<float>(descInliersCount) / keypoints0.size() << std::endl;
<< " - descInliersRatio " << static_cast<float>(descInliersCount) / keyPointMatchesCount << std::endl;
#endif #endif
} }
ts->set_failed_test_info( cvtest::TS::OK ); ts->set_failed_test_info( cvtest::TS::OK );
@ -381,9 +379,7 @@ protected:
Ptr<FeatureDetector> featureDetector; Ptr<FeatureDetector> featureDetector;
Ptr<DescriptorExtractor> descriptorExtractor; Ptr<DescriptorExtractor> descriptorExtractor;
int normType; int normType;
float minKeyPointMatchesRatio;
float minDescInliersRatio; float minDescInliersRatio;
}; };
class DetectorScaleInvarianceTest : public cvtest::BaseTest class DetectorScaleInvarianceTest : public cvtest::BaseTest
@ -419,8 +415,9 @@ protected:
if(keypoints0.size() < 15) if(keypoints0.size() < 15)
CV_Error(CV_StsAssert, "Detector gives too few points in a test image\n"); CV_Error(CV_StsAssert, "Detector gives too few points in a test image\n");
for(int scale = 2; scale <= 4; scale++) for(float scaleIdx = 1; scaleIdx <= 3; scaleIdx++)
{ {
float scale = 1.f + scaleIdx * 0.5f;
Mat image1; Mat image1;
resize(image0, image1, Size(), 1./scale, 1./scale); resize(image0, image1, Size(), 1./scale, 1./scale);
@ -492,19 +489,6 @@ protected:
std::cout << "keyPointMatchesRatio - " << keyPointMatchesRatio std::cout << "keyPointMatchesRatio - " << keyPointMatchesRatio
<< " - scaleInliersRatio " << static_cast<float>(scaleInliersCount) / keyPointMatchesCount << std::endl; << " - scaleInliersRatio " << static_cast<float>(scaleInliersCount) / keyPointMatchesCount << std::endl;
#endif #endif
/*vector<DMatch> filteredMatches;
for(size_t i = 0; i < matches.size(); i++)
{
if(matches[i].distance >= minIntersectRatio)
filteredMatches.push_back(matches[i]);
}
Mat out;
namedWindow("out", CV_WINDOW_NORMAL);
drawMatches(image1, keypoints1, image0, keypoints0, filteredMatches, out,
Scalar::all(-1), Scalar(-1), vector<char>(), DrawMatchesFlags::DEFAULT + DrawMatchesFlags::DRAW_RICH_KEYPOINTS);
imshow("out", out);
waitKey();*/
} }
ts->set_failed_test_info( cvtest::TS::OK ); ts->set_failed_test_info( cvtest::TS::OK );
} }
@ -520,12 +504,10 @@ public:
DescriptorScaleInvarianceTest(const Ptr<FeatureDetector>& _featureDetector, DescriptorScaleInvarianceTest(const Ptr<FeatureDetector>& _featureDetector,
const Ptr<DescriptorExtractor>& _descriptorExtractor, const Ptr<DescriptorExtractor>& _descriptorExtractor,
int _normType, int _normType,
float _minKeyPointMatchesRatio,
float _minDescInliersRatio) : float _minDescInliersRatio) :
featureDetector(_featureDetector), featureDetector(_featureDetector),
descriptorExtractor(_descriptorExtractor), descriptorExtractor(_descriptorExtractor),
normType(_normType), normType(_normType),
minKeyPointMatchesRatio(_minKeyPointMatchesRatio),
minDescInliersRatio(_minDescInliersRatio) minDescInliersRatio(_minDescInliersRatio)
{ {
CV_Assert(!featureDetector.empty()); CV_Assert(!featureDetector.empty());
@ -555,66 +537,35 @@ protected:
descriptorExtractor->compute(image0, keypoints0, descriptors0); descriptorExtractor->compute(image0, keypoints0, descriptors0);
BFMatcher bfmatcher(normType); BFMatcher bfmatcher(normType);
for(int scale = 2; scale <= 4; scale++) for(float scaleIdx = 1; scaleIdx <= 3; scaleIdx++)
{ {
float scale = 1.f + scaleIdx * 0.5f;
Mat image1; Mat image1;
resize(image0, image1, Size(), 1./scale, 1./scale); resize(image0, image1, Size(), 1./scale, 1./scale);
vector<KeyPoint> keypoints1, osiKeypoints1; // osi - original size image vector<KeyPoint> keypoints1;
featureDetector->detect(image1, keypoints1); scaleKeyPoints(keypoints0, keypoints1, 1./scale);
if(keypoints1.size() < 15)
CV_Error(CV_StsAssert, "Detector gives too few points in a test image\n");
if(keypoints1.size() > keypoints0.size() )
{
ts->printf(cvtest::TS::LOG, "Strange behavior of the detector. "
"It gives more points count in an image of the smaller size.\n"
"original size (%d, %d), keypoints count = %d\n"
"reduced size (%d, %d), keypoints count = %d\n",
image0.cols, image0.rows, keypoints0.size(),
image1.cols, image1.rows, keypoints1.size());
ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_OUTPUT);
return;
}
Mat descriptors1; Mat descriptors1;
descriptorExtractor->compute(image1, keypoints1, descriptors1); descriptorExtractor->compute(image1, keypoints1, descriptors1);
vector<DMatch> keyPointMatches, descMatches; vector<DMatch> descMatches;
// image1 is query image (it's reduced image0) bfmatcher.match(descriptors0, descriptors1, descMatches);
// image0 is train image
bfmatcher.match(descriptors1, descriptors0, descMatches);
scaleKeyPoints(keypoints1, osiKeypoints1, scale);
matchKeyPoints(osiKeypoints1, Mat(), keypoints0, keyPointMatches);
const float minIntersectRatio = 0.5f; const float minIntersectRatio = 0.5f;
int keyPointMatchesCount = 0;
for(size_t m = 0; m < keyPointMatches.size(); m++)
{
if(keyPointMatches[m].distance >= minIntersectRatio)
keyPointMatchesCount++;
}
int descInliersCount = 0; int descInliersCount = 0;
for(size_t m = 0; m < descMatches.size(); m++) for(size_t m = 0; m < descMatches.size(); m++)
{ {
int queryIdx = descMatches[m].queryIdx; const KeyPoint& transformed_p0 = keypoints0[descMatches[m].queryIdx];
if(keyPointMatches[queryIdx].distance >= minIntersectRatio && const KeyPoint& p1 = keypoints0[descMatches[m].trainIdx];
descMatches[m].trainIdx == keyPointMatches[queryIdx].trainIdx) if(calcIntersectRatio(transformed_p0.pt, 0.5f * transformed_p0.size,
p1.pt, 0.5f * p1.size) >= minIntersectRatio)
{
descInliersCount++; descInliersCount++;
} }
float keyPointMatchesRatio = static_cast<float>(keyPointMatchesCount) / keypoints1.size();
if(keyPointMatchesRatio < minKeyPointMatchesRatio)
{
ts->printf(cvtest::TS::LOG, "Incorrect keyPointMatchesRatio: curr = %f, min = %f.\n",
keyPointMatchesRatio, minKeyPointMatchesRatio);
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
return;
} }
if(keyPointMatchesCount) float descInliersRatio = static_cast<float>(descInliersCount) / keypoints0.size();
{
float descInliersRatio = static_cast<float>(descInliersCount) / keyPointMatchesCount;
if(descInliersRatio < minDescInliersRatio) if(descInliersRatio < minDescInliersRatio)
{ {
ts->printf(cvtest::TS::LOG, "Incorrect descInliersRatio: curr = %f, min = %f.\n", ts->printf(cvtest::TS::LOG, "Incorrect descInliersRatio: curr = %f, min = %f.\n",
@ -622,10 +573,8 @@ protected:
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY); ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
return; return;
} }
}
#if SHOW_DEBUG_LOG #if SHOW_DEBUG_LOG
std::cout << "keyPointMatchesRatio - " << keyPointMatchesRatio std::cout << "descInliersRatio " << static_cast<float>(descInliersCount) / keypoints0.size() << std::endl;
<< " - descInliersRatio " << static_cast<float>(descInliersCount) / keyPointMatchesCount << std::endl;
#endif #endif
} }
ts->set_failed_test_info( cvtest::TS::OK ); ts->set_failed_test_info( cvtest::TS::OK );
@ -640,54 +589,68 @@ protected:
// Tests registration // Tests registration
// Detector's rotation invariance check /*
* Detector's rotation invariance check
*/
TEST(Features2d_RotationInvariance_Detector_ORB, regression) TEST(Features2d_RotationInvariance_Detector_ORB, regression)
{ {
DetectorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.ORB"), DetectorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.ORB"),
0.45f, 0.47f,
0.75f); 0.77f);
test.safe_run(); test.safe_run();
} }
// Descriptors's rotation invariance check /*
* Descriptors's rotation invariance check
*/
TEST(Features2d_RotationInvariance_Descriptor_ORB, regression) TEST(Features2d_RotationInvariance_Descriptor_ORB, regression)
{ {
DescriptorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.ORB"), DescriptorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.ORB"),
Algorithm::create<DescriptorExtractor>("Feature2D.ORB"), Algorithm::create<DescriptorExtractor>("Feature2D.ORB"),
NORM_HAMMING, NORM_HAMMING,
0.45f, 0.99f);
0.53f);
test.safe_run(); test.safe_run();
} }
// TODO: Uncomment test for FREAK when it will work; add test for scale invariance for FREAK
//TEST(Features2d_RotationInvariance_Descriptor_FREAK, regression) //TEST(Features2d_RotationInvariance_Descriptor_FREAK, regression)
//{ //{
// DescriptorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.ORB"), // DescriptorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.ORB"),
// Algorithm::create<DescriptorExtractor>("Feature2D.FREAK"), // Algorithm::create<DescriptorExtractor>("Feature2D.FREAK"),
// NORM_HAMMING(?), // NORM_HAMMING,
// 0.45f, // 0.f);
// 0.?f);
// test.safe_run(); // test.safe_run();
//} //}
/* TODO: Why ORB has bad scale invariance in this tests? /*
// Detector's scale invariance check * Detector's scale invariance check
TEST(Features2d_ScaleInvariance_Detector_ORB, regression) */
{
DetectorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.ORB"),
0.13f,
0.0f);
test.safe_run();
}
// Descriptor's scale invariance check //TEST(Features2d_ScaleInvariance_Detector_ORB, regression)
TEST(Features2d_ScaleInvariance_Descriptor_ORB, regression) //{
{ // DetectorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.ORB"),
DescriptorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.ORB"), // 0.22f,
Algorithm::create<DescriptorExtractor>("Feature2D.ORB"), // 0.83f);
NORM_HAMMING, // test.safe_run();
0.13f, //}
0.36f);
test.safe_run(); /*
}*/ * Descriptor's scale invariance check
*/
//TEST(Features2d_ScaleInvariance_Descriptor_ORB, regression)
//{
// DescriptorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.ORB"),
// Algorithm::create<DescriptorExtractor>("Feature2D.ORB"),
// NORM_HAMMING,
// 0.01f);
// test.safe_run();
//}
//TEST(Features2d_ScaleInvariance_Descriptor_FREAK, regression)
//{
// DescriptorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.ORB"),
// Algorithm::create<DescriptorExtractor>("Feature2D.FREAK"),
// NORM_HAMMING,
// 0.01f);
// test.safe_run();
//}

196
modules/nonfree/test/test_rotation_and_scale_invariance.cpp
View File

@ -85,6 +85,32 @@ Mat rotateImage(const Mat& srcImage, float angle, Mat& dstImage, Mat& dstMask)
return H; return H;
} }
void rotateKeyPoints(const vector<KeyPoint>& src, const Mat& H, float angle, vector<KeyPoint>& dst)
{
// suppose that H is rotation given from rotateImage() and angle has value passed to rotateImage()
vector<Point2f> srcCenters, dstCenters;
KeyPoint::convert(src, srcCenters);
perspectiveTransform(srcCenters, dstCenters, H);
dst = src;
for(size_t i = 0; i < dst.size(); i++)
{
dst[i].pt = dstCenters[i];
float dstAngle = src[i].angle + angle;
if(dstAngle >= 360.f)
dstAngle -= 360.f;
dst[i].angle = dstAngle;
}
}
void scaleKeyPoints(const vector<KeyPoint>& src, vector<KeyPoint>& dst, float scale)
{
dst.resize(src.size());
for(size_t i = 0; i < src.size(); i++)
dst[i] = KeyPoint(src[i].pt.x * scale, src[i].pt.y * scale, src[i].size * scale);
}
static static
float calcCirclesIntersectArea(const Point2f& p0, float r0, const Point2f& p1, float r1) float calcCirclesIntersectArea(const Point2f& p0, float r0, const Point2f& p1, float r1)
{ {
@ -269,25 +295,16 @@ protected:
float minAngleInliersRatio; float minAngleInliersRatio;
}; };
void scaleKeyPoints(const vector<KeyPoint>& src, vector<KeyPoint>& dst, float scale)
{
dst.resize(src.size());
for(size_t i = 0; i < src.size(); i++)
dst[i] = KeyPoint(src[i].pt.x * scale, src[i].pt.y * scale, src[i].size * scale);
}
class DescriptorRotationInvarianceTest : public cvtest::BaseTest class DescriptorRotationInvarianceTest : public cvtest::BaseTest
{ {
public: public:
DescriptorRotationInvarianceTest(const Ptr<FeatureDetector>& _featureDetector, DescriptorRotationInvarianceTest(const Ptr<FeatureDetector>& _featureDetector,
const Ptr<DescriptorExtractor>& _descriptorExtractor, const Ptr<DescriptorExtractor>& _descriptorExtractor,
int _normType, int _normType,
float _minKeyPointMatchesRatio,
float _minDescInliersRatio) : float _minDescInliersRatio) :
featureDetector(_featureDetector), featureDetector(_featureDetector),
descriptorExtractor(_descriptorExtractor), descriptorExtractor(_descriptorExtractor),
normType(_normType), normType(_normType),
minKeyPointMatchesRatio(_minKeyPointMatchesRatio),
minDescInliersRatio(_minDescInliersRatio) minDescInliersRatio(_minDescInliersRatio)
{ {
CV_Assert(!featureDetector.empty()); CV_Assert(!featureDetector.empty());
@ -318,50 +335,33 @@ protected:
BFMatcher bfmatcher(normType); BFMatcher bfmatcher(normType);
const float minIntersectRatio = 0.5f;
const int maxAngle = 360, angleStep = 15; const int maxAngle = 360, angleStep = 15;
for(int angle = 0; angle < maxAngle; angle += angleStep) for(int angle = 0; angle < maxAngle; angle += angleStep)
{ {
Mat H = rotateImage(image0, angle, image1, mask1); Mat H = rotateImage(image0, angle, image1, mask1);
vector<KeyPoint> keypoints1; vector<KeyPoint> keypoints1;
rotateKeyPoints(keypoints0, H, angle, keypoints1);
Mat descriptors1; Mat descriptors1;
featureDetector->detect(image1, keypoints1, mask1);
descriptorExtractor->compute(image1, keypoints1, descriptors1); descriptorExtractor->compute(image1, keypoints1, descriptors1);
vector<DMatch> descMatches; vector<DMatch> descMatches;
bfmatcher.match(descriptors0, descriptors1, descMatches); bfmatcher.match(descriptors0, descriptors1, descMatches);
vector<DMatch> keyPointMatches;
matchKeyPoints(keypoints0, H, keypoints1, keyPointMatches);
const float minIntersectRatio = 0.5f;
int keyPointMatchesCount = 0;
for(size_t m = 0; m < keyPointMatches.size(); m++)
{
if(keyPointMatches[m].distance >= minIntersectRatio)
keyPointMatchesCount++;
}
int descInliersCount = 0; int descInliersCount = 0;
for(size_t m = 0; m < descMatches.size(); m++) for(size_t m = 0; m < descMatches.size(); m++)
{ {
int queryIdx = descMatches[m].queryIdx; const KeyPoint& transformed_p0 = keypoints1[descMatches[m].queryIdx];
if(keyPointMatches[queryIdx].distance >= minIntersectRatio && const KeyPoint& p1 = keypoints1[descMatches[m].trainIdx];
descMatches[m].trainIdx == keyPointMatches[queryIdx].trainIdx) if(calcIntersectRatio(transformed_p0.pt, 0.5f * transformed_p0.size,
p1.pt, 0.5f * p1.size) >= minIntersectRatio)
{
descInliersCount++; descInliersCount++;
} }
float keyPointMatchesRatio = static_cast<float>(keyPointMatchesCount) / keypoints0.size();
if(keyPointMatchesRatio < minKeyPointMatchesRatio)
{
ts->printf(cvtest::TS::LOG, "Incorrect keyPointMatchesRatio: curr = %f, min = %f.\n",
keyPointMatchesRatio, minKeyPointMatchesRatio);
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
return;
} }
if(keyPointMatchesCount) float descInliersRatio = static_cast<float>(descInliersCount) / keypoints0.size();
{
float descInliersRatio = static_cast<float>(descInliersCount) / keyPointMatchesCount;
if(descInliersRatio < minDescInliersRatio) if(descInliersRatio < minDescInliersRatio)
{ {
ts->printf(cvtest::TS::LOG, "Incorrect descInliersRatio: curr = %f, min = %f.\n", ts->printf(cvtest::TS::LOG, "Incorrect descInliersRatio: curr = %f, min = %f.\n",
@ -369,10 +369,8 @@ protected:
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY); ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
return; return;
} }
}
#if SHOW_DEBUG_LOG #if SHOW_DEBUG_LOG
std::cout << "keyPointMatchesRatio - " << keyPointMatchesRatio std::cout << "descInliersRatio " << static_cast<float>(descInliersCount) / keypoints0.size() << std::endl;
<< " - descInliersRatio " << static_cast<float>(descInliersCount) / keyPointMatchesCount << std::endl;
#endif #endif
} }
ts->set_failed_test_info( cvtest::TS::OK ); ts->set_failed_test_info( cvtest::TS::OK );
@ -381,9 +379,7 @@ protected:
Ptr<FeatureDetector> featureDetector; Ptr<FeatureDetector> featureDetector;
Ptr<DescriptorExtractor> descriptorExtractor; Ptr<DescriptorExtractor> descriptorExtractor;
int normType; int normType;
float minKeyPointMatchesRatio;
float minDescInliersRatio; float minDescInliersRatio;
}; };
class DetectorScaleInvarianceTest : public cvtest::BaseTest class DetectorScaleInvarianceTest : public cvtest::BaseTest
@ -419,8 +415,9 @@ protected:
if(keypoints0.size() < 15) if(keypoints0.size() < 15)
CV_Error(CV_StsAssert, "Detector gives too few points in a test image\n"); CV_Error(CV_StsAssert, "Detector gives too few points in a test image\n");
for(int scale = 2; scale <= 4; scale++) for(float scaleIdx = 1; scaleIdx <= 3; scaleIdx++)
{ {
float scale = 1.f + scaleIdx * 0.5f;
Mat image1; Mat image1;
resize(image0, image1, Size(), 1./scale, 1./scale); resize(image0, image1, Size(), 1./scale, 1./scale);
@ -507,12 +504,10 @@ public:
DescriptorScaleInvarianceTest(const Ptr<FeatureDetector>& _featureDetector, DescriptorScaleInvarianceTest(const Ptr<FeatureDetector>& _featureDetector,
const Ptr<DescriptorExtractor>& _descriptorExtractor, const Ptr<DescriptorExtractor>& _descriptorExtractor,
int _normType, int _normType,
float _minKeyPointMatchesRatio,
float _minDescInliersRatio) : float _minDescInliersRatio) :
featureDetector(_featureDetector), featureDetector(_featureDetector),
descriptorExtractor(_descriptorExtractor), descriptorExtractor(_descriptorExtractor),
normType(_normType), normType(_normType),
minKeyPointMatchesRatio(_minKeyPointMatchesRatio),
minDescInliersRatio(_minDescInliersRatio) minDescInliersRatio(_minDescInliersRatio)
{ {
CV_Assert(!featureDetector.empty()); CV_Assert(!featureDetector.empty());
@ -542,66 +537,35 @@ protected:
descriptorExtractor->compute(image0, keypoints0, descriptors0); descriptorExtractor->compute(image0, keypoints0, descriptors0);
BFMatcher bfmatcher(normType); BFMatcher bfmatcher(normType);
for(int scale = 2; scale <= 4; scale++) for(float scaleIdx = 1; scaleIdx <= 3; scaleIdx++)
{ {
float scale = 1.f + scaleIdx * 0.5f;
Mat image1; Mat image1;
resize(image0, image1, Size(), 1./scale, 1./scale); resize(image0, image1, Size(), 1./scale, 1./scale);
vector<KeyPoint> keypoints1, osiKeypoints1; // osi - original size image vector<KeyPoint> keypoints1;
featureDetector->detect(image1, keypoints1); scaleKeyPoints(keypoints0, keypoints1, 1./scale);
if(keypoints1.size() < 15)
CV_Error(CV_StsAssert, "Detector gives too few points in a test image\n");
if(keypoints1.size() > keypoints0.size() )
{
ts->printf(cvtest::TS::LOG, "Strange behavior of the detector. "
"It gives more points count in an image of the smaller size.\n"
"original size (%d, %d), keypoints count = %d\n"
"reduced size (%d, %d), keypoints count = %d\n",
image0.cols, image0.rows, keypoints0.size(),
image1.cols, image1.rows, keypoints1.size());
ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_OUTPUT);
return;
}
Mat descriptors1; Mat descriptors1;
descriptorExtractor->compute(image1, keypoints1, descriptors1); descriptorExtractor->compute(image1, keypoints1, descriptors1);
vector<DMatch> keyPointMatches, descMatches; vector<DMatch> descMatches;
// image1 is query image (it's reduced image0) bfmatcher.match(descriptors0, descriptors1, descMatches);
// image0 is train image
bfmatcher.match(descriptors1, descriptors0, descMatches);
scaleKeyPoints(keypoints1, osiKeypoints1, scale);
matchKeyPoints(osiKeypoints1, Mat(), keypoints0, keyPointMatches);
const float minIntersectRatio = 0.5f; const float minIntersectRatio = 0.5f;
int keyPointMatchesCount = 0;
for(size_t m = 0; m < keyPointMatches.size(); m++)
{
if(keyPointMatches[m].distance >= minIntersectRatio)
keyPointMatchesCount++;
}
int descInliersCount = 0; int descInliersCount = 0;
for(size_t m = 0; m < descMatches.size(); m++) for(size_t m = 0; m < descMatches.size(); m++)
{ {
int queryIdx = descMatches[m].queryIdx; const KeyPoint& transformed_p0 = keypoints0[descMatches[m].queryIdx];
if(keyPointMatches[queryIdx].distance >= minIntersectRatio && const KeyPoint& p1 = keypoints0[descMatches[m].trainIdx];
descMatches[m].trainIdx == keyPointMatches[queryIdx].trainIdx) if(calcIntersectRatio(transformed_p0.pt, 0.5f * transformed_p0.size,
p1.pt, 0.5f * p1.size) >= minIntersectRatio)
{
descInliersCount++; descInliersCount++;
} }
float keyPointMatchesRatio = static_cast<float>(keyPointMatchesCount) / keypoints1.size();
if(keyPointMatchesRatio < minKeyPointMatchesRatio)
{
ts->printf(cvtest::TS::LOG, "Incorrect keyPointMatchesRatio: curr = %f, min = %f.\n",
keyPointMatchesRatio, minKeyPointMatchesRatio);
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
return;
} }
if(keyPointMatchesCount) float descInliersRatio = static_cast<float>(descInliersCount) / keypoints0.size();
{
float descInliersRatio = static_cast<float>(descInliersCount) / keyPointMatchesCount;
if(descInliersRatio < minDescInliersRatio) if(descInliersRatio < minDescInliersRatio)
{ {
ts->printf(cvtest::TS::LOG, "Incorrect descInliersRatio: curr = %f, min = %f.\n", ts->printf(cvtest::TS::LOG, "Incorrect descInliersRatio: curr = %f, min = %f.\n",
@ -609,10 +573,8 @@ protected:
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY); ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
return; return;
} }
}
#if SHOW_DEBUG_LOG #if SHOW_DEBUG_LOG
std::cout << "keyPointMatchesRatio - " << keyPointMatchesRatio std::cout << "descInliersRatio " << static_cast<float>(descInliersCount) / keypoints0.size() << std::endl;
<< " - descInliersRatio " << static_cast<float>(descInliersCount) / keyPointMatchesCount << std::endl;
#endif #endif
} }
ts->set_failed_test_info( cvtest::TS::OK ); ts->set_failed_test_info( cvtest::TS::OK );
@ -627,11 +589,13 @@ protected:
// Tests registration // Tests registration
// Detector's rotation invariance check /*
* Detector's rotation invariance check
*/
TEST(Features2d_RotationInvariance_Detector_SURF, regression) TEST(Features2d_RotationInvariance_Detector_SURF, regression)
{ {
DetectorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SURF"), DetectorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SURF"),
0.44f, 0.45f,
0.76f); 0.76f);
test.safe_run(); test.safe_run();
} }
@ -639,19 +603,20 @@ TEST(Features2d_RotationInvariance_Detector_SURF, regression)
TEST(Features2d_RotationInvariance_Detector_SIFT, regression) TEST(Features2d_RotationInvariance_Detector_SIFT, regression)
{ {
DetectorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SIFT"), DetectorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SIFT"),
0.64f, 0.75f,
0.74f); 0.76f);
test.safe_run(); test.safe_run();
} }
// Descriptors's rotation invariance check /*
* Descriptors's rotation invariance check
*/
TEST(Features2d_RotationInvariance_Descriptor_SURF, regression) TEST(Features2d_RotationInvariance_Descriptor_SURF, regression)
{ {
DescriptorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SURF"), DescriptorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SURF"),
Algorithm::create<DescriptorExtractor>("Feature2D.SURF"), Algorithm::create<DescriptorExtractor>("Feature2D.SURF"),
NORM_L1, NORM_L1,
0.44f, 0.83f);
0.63f);
test.safe_run(); test.safe_run();
} }
@ -660,45 +625,46 @@ TEST(Features2d_RotationInvariance_Descriptor_SIFT, regression)
DescriptorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SIFT"), DescriptorRotationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SIFT"),
Algorithm::create<DescriptorExtractor>("Feature2D.SIFT"), Algorithm::create<DescriptorExtractor>("Feature2D.SIFT"),
NORM_L1, NORM_L1,
0.64f, 0.98f);
0.72f);
test.safe_run(); test.safe_run();
} }
// Detector's scale invariance check /*
* Detector's scale invariance check
*/
TEST(Features2d_ScaleInvariance_Detector_SURF, regression) TEST(Features2d_ScaleInvariance_Detector_SURF, regression)
{ {
DetectorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SURF"), DetectorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SURF"),
0.62f, 0.64f,
0.68f); 0.84f);
test.safe_run(); test.safe_run();
} }
TEST(Features2d_ScaleInvariance_Detector_SIFT, regression) TEST(Features2d_ScaleInvariance_Detector_SIFT, regression)
{ {
DetectorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SIFT"), DetectorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SIFT"),
0.59f, 0.69f,
0.94f); 0.99f);
test.safe_run(); test.safe_run();
} }
// Descriptor's scale invariance check /*
* Descriptor's scale invariance check
*/
TEST(Features2d_ScaleInvariance_Descriptor_SURF, regression) TEST(Features2d_ScaleInvariance_Descriptor_SURF, regression)
{ {
DescriptorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SURF"), DescriptorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SURF"),
Algorithm::create<DescriptorExtractor>("Feature2D.SURF"), Algorithm::create<DescriptorExtractor>("Feature2D.SURF"),
NORM_L1, NORM_L1,
0.62f, 0.61f);
0.68f);
test.safe_run(); test.safe_run();
} }
TEST(Features2d_ScaleInvariance_Descriptor_SIFT, regression) //TEST(Features2d_ScaleInvariance_Descriptor_SIFT, regression)
{ //{
DescriptorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SIFT"), // DescriptorScaleInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SIFT"),
Algorithm::create<DescriptorExtractor>("Feature2D.SIFT"), // Algorithm::create<DescriptorExtractor>("Feature2D.SIFT"),
NORM_L1, // NORM_L1,
0.59f, // 0.14f);
0.78f); // test.safe_run();
test.safe_run(); //}
}