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made GPU version of SURF more consistent with CPU one

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This commit is contained in:
Vladislav Vinogradov
2011-03-10 13:53:58 +00:00
parent c067c633f0
commit 58f6919795
7 changed files with 860 additions and 1135 deletions
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142
modules/gpu/test/test_features2d.cpp
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@@ -48,7 +48,6 @@ using namespace std;
const string FEATURES2D_DIR = "features2d";
const string IMAGE_FILENAME = "aloe.png";
const string VALID_FILE_NAME = "surf.xml.gz";
class CV_GPU_SURFTest : public cvtest::BaseTest
{
@@ -59,17 +58,20 @@ public:
protected:
bool isSimilarKeypoints(const KeyPoint& p1, const KeyPoint& p2);
int getValidCount(const vector<KeyPoint>& keypoints1, const vector<KeyPoint>& keypoints2, const vector<DMatch>& matches);
void compareKeypointSets(const vector<KeyPoint>& validKeypoints, const vector<KeyPoint>& calcKeypoints,
const Mat& validDescriptors, const Mat& calcDescriptors);
void emptyDataTest(SURF_GPU& fdetector);
void regressionTest(SURF_GPU& fdetector);
void emptyDataTest();
void accuracyTest();
virtual void run(int);
};
void CV_GPU_SURFTest::emptyDataTest(SURF_GPU& fdetector)
void CV_GPU_SURFTest::emptyDataTest()
{
SURF_GPU fdetector;
GpuMat image;
vector<KeyPoint> keypoints;
vector<float> descriptors;
@@ -114,116 +116,80 @@ bool CV_GPU_SURFTest::isSimilarKeypoints(const KeyPoint& p1, const KeyPoint& p2)
p1.class_id == p2.class_id );
}
int CV_GPU_SURFTest::getValidCount(const vector<KeyPoint>& keypoints1, const vector<KeyPoint>& keypoints2,
const vector<DMatch>& matches)
{
int count = 0;
for (size_t i = 0; i < matches.size(); ++i)
{
const DMatch& m = matches[i];
const KeyPoint& kp1 = keypoints1[m.queryIdx];
const KeyPoint& kp2 = keypoints2[m.trainIdx];
if (isSimilarKeypoints(kp1, kp2))
++count;
}
return count;
}
void CV_GPU_SURFTest::compareKeypointSets(const vector<KeyPoint>& validKeypoints, const vector<KeyPoint>& calcKeypoints,
const Mat& validDescriptors, const Mat& calcDescriptors)
{
if (validKeypoints.size() != calcKeypoints.size())
BruteForceMatcher< L2<float> > matcher;
vector<DMatch> matches;
matcher.match(validDescriptors, calcDescriptors, matches);
int validCount = getValidCount(validKeypoints, calcKeypoints, matches);
float validRatio = (float)validCount / matches.size();
if (validRatio < 0.5f)
{
ts->printf(cvtest::TS::LOG, "Keypoints sizes doesn't equal (validCount = %d, calcCount = %d).\n",
validKeypoints.size(), calcKeypoints.size());
ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_OUTPUT);
ts->printf(cvtest::TS::LOG, "Bad accuracy - %f.\n", validRatio);
ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
return;
}
if (validDescriptors.size() != calcDescriptors.size())
{
ts->printf(cvtest::TS::LOG, "Descriptors sizes doesn't equal.\n");
ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_OUTPUT);
return;
}
for (size_t v = 0; v < validKeypoints.size(); v++)
{
int nearestIdx = -1;
float minDist = std::numeric_limits<float>::max();
for (size_t c = 0; c < calcKeypoints.size(); c++)
{
float curDist = (float)norm(calcKeypoints[c].pt - validKeypoints[v].pt);
if (curDist < minDist)
{
minDist = curDist;
nearestIdx = c;
}
}
assert(minDist >= 0);
if (!isSimilarKeypoints(validKeypoints[v], calcKeypoints[nearestIdx]))
{
ts->printf(cvtest::TS::LOG, "Bad keypoints accuracy.\n");
ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
return;
}
if (norm(validDescriptors.row(v), calcDescriptors.row(nearestIdx), NORM_L2) > 1.5f)
{
ts->printf(cvtest::TS::LOG, "Bad descriptors accuracy.\n");
ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
return;
}
}
}
void CV_GPU_SURFTest::regressionTest(SURF_GPU& fdetector)
void CV_GPU_SURFTest::accuracyTest()
{
string imgFilename = string(ts->get_data_path()) + FEATURES2D_DIR + "/" + IMAGE_FILENAME;
string resFilename = string(ts->get_data_path()) + FEATURES2D_DIR + "/" + VALID_FILE_NAME;
// Read the test image.
GpuMat image(imread(imgFilename, 0));
Mat image = imread(imgFilename, 0);
if (image.empty())
{
ts->printf( cvtest::TS::LOG, "Image %s can not be read.\n", imgFilename.c_str() );
ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_TEST_DATA );
return;
}
FileStorage fs(resFilename, FileStorage::READ);
Mat mask(image.size(), CV_8UC1, Scalar::all(1));
mask(Range(0, image.rows / 2), Range(0, image.cols / 2)).setTo(Scalar::all(0));
// Compute keypoints.
GpuMat mask(image.size(), CV_8UC1, Scalar::all(1));
mask(Range(0, image.rows / 2), Range(0, image.cols / 2)).setTo(Scalar::all(0));
vector<KeyPoint> calcKeypoints;
GpuMat calcDespcriptors;
fdetector(image, mask, calcKeypoints, calcDespcriptors);
GpuMat calcDescriptors;
SURF_GPU fdetector; fdetector.extended = false;
fdetector(GpuMat(image), GpuMat(mask), calcKeypoints, calcDescriptors);
if (fs.isOpened()) // Compare computed and valid keypoints.
{
// Read validation keypoints set.
vector<KeyPoint> validKeypoints;
Mat validDespcriptors;
read(fs["keypoints"], validKeypoints);
read(fs["descriptors"], validDespcriptors);
if (validKeypoints.empty() || validDespcriptors.empty())
{
ts->printf(cvtest::TS::LOG, "Validation file can not be read.\n");
ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_TEST_DATA);
return;
}
// Calc validation keypoints set.
vector<KeyPoint> validKeypoints;
vector<float> validDescriptors;
SURF fdetector_gold; fdetector_gold.extended = false;
fdetector_gold(image, mask, validKeypoints, validDescriptors);
compareKeypointSets(validKeypoints, calcKeypoints, validDespcriptors, calcDespcriptors);
}
else // Write detector parameters and computed keypoints as validation data.
{
fs.open(resFilename, FileStorage::WRITE);
if (!fs.isOpened())
{
ts->printf(cvtest::TS::LOG, "File %s can not be opened to write.\n", resFilename.c_str());
ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_TEST_DATA);
return;
}
else
{
write(fs, "keypoints", calcKeypoints);
write(fs, "descriptors", (Mat)calcDespcriptors);
}
}
compareKeypointSets(validKeypoints, calcKeypoints,
Mat(validKeypoints.size(), fdetector_gold.descriptorSize(), CV_32F, &validDescriptors[0]), calcDescriptors);
}
void CV_GPU_SURFTest::run( int /*start_from*/ )
{
SURF_GPU fdetector;
emptyDataTest(fdetector);
regressionTest(fdetector);
emptyDataTest();
accuracyTest();
}
TEST(SURF, empty_data_and_regression) { CV_GPU_SURFTest test; test.safe_run(); }
TEST(SURF, empty_data_and_accuracy) { CV_GPU_SURFTest test; test.safe_run(); }