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added simple HAL test; added RHO homography test

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This commit is contained in:
Vadim Pisarevsky
2015-05-28 17:05:43 +03:00
parent 8fb37606f6
commit 481f786fe7
2 changed files with 222 additions and 8 deletions
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35
modules/calib3d/test/test_homography.cpp
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@@ -662,7 +662,7 @@ TEST(Calib3d_Homography, fromImages)
std::vector< DMatch > good_matches;
for( int i = 0; i < descriptors_1.rows; i++ )
{
if( matches[i].distance <= 42 )
if( matches[i].distance <= 100 )
good_matches.push_back( matches[i]);
}
@@ -676,13 +676,32 @@ TEST(Calib3d_Homography, fromImages)
pointframe2.push_back( keypoints_2[ good_matches[i].trainIdx ].pt );
}
Mat inliers;
Mat H = findHomography( pointframe1, pointframe2, RANSAC,3.0,inliers);
int ninliers = countNonZero(inliers);
printf("nfeatures1 = %d, nfeatures2=%d, good matches=%d, ninliers=%d\n",
Mat H0, H1, inliers0, inliers1;
double min_t0 = DBL_MAX, min_t1 = DBL_MAX;
for( int i = 0; i < 10; i++ )
{
double t = (double)getTickCount();
H0 = findHomography( pointframe1, pointframe2, RANSAC, 3.0, inliers0 );
t = (double)getTickCount() - t;
min_t0 = std::min(min_t0, t);
}
int ninliers0 = countNonZero(inliers0);
for( int i = 0; i < 10; i++ )
{
double t = (double)getTickCount();
H1 = findHomography( pointframe1, pointframe2, RHO, 3.0, inliers1 );
t = (double)getTickCount() - t;
min_t1 = std::min(min_t1, t);
}
int ninliers1 = countNonZero(inliers1);
double freq = getTickFrequency();
printf("nfeatures1 = %d, nfeatures2=%d, matches=%d, ninliers(RANSAC)=%d, "
"time(RANSAC)=%.2fmsec, ninliers(RHO)=%d, time(RHO)=%.2fmsec\n",
(int)keypoints_1.size(), (int)keypoints_2.size(),
(int)good_matches.size(), ninliers);
(int)good_matches.size(), ninliers0, min_t0*1000./freq, ninliers1, min_t1*1000./freq);
ASSERT_TRUE(!H.empty());
ASSERT_GE(ninliers, 80);
ASSERT_TRUE(!H0.empty());
ASSERT_GE(ninliers0, 80);
ASSERT_TRUE(!H1.empty());
ASSERT_GE(ninliers1, 80);
}