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Merge pull request #17618 from Yosshi999:gsoc_sift-better-test

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Added/Fixed testcases for SIFT

* merge perf_sift into conventional perf tests

* Fix disabled SIFT scale invariance tests

allows trainIdx duplication in matching scaled keypoints
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Yosshi999 2020-06-25 20:34:31 +09:00 committed by GitHub
parent 6259ba1bfd
commit 4064d4c7eb
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6 changed files with 43 additions and 97 deletions
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6
modules/features2d/include/opencv2/features2d.hpp
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@ -261,6 +261,10 @@ public:
@param contrastThreshold The contrast threshold used to filter out weak features in semi-uniform
(low-contrast) regions. The larger the threshold, the less features are produced by the detector.
@note The contrast threshold will be divided by nOctaveLayers when the filtering is applied. When
nOctaveLayers is set to default and if you want to use the value used in D. Lowe paper, 0.03, set
this argument to 0.09.
@param edgeThreshold The threshold used to filter out edge-like features. Note that the its meaning
is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are
filtered out (more features are retained).
@ -271,6 +275,8 @@ public:
CV_WRAP static Ptr<SIFT> create(int nfeatures = 0, int nOctaveLayers = 3,
double contrastThreshold = 0.04, double edgeThreshold = 10,
double sigma = 1.6);
CV_WRAP virtual String getDefaultName() const CV_OVERRIDE;
};
typedef SIFT SiftFeatureDetector;

5
modules/features2d/perf/perf_feature2d.hpp
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@ -21,7 +21,8 @@ namespace opencv_test
ORB_DEFAULT, ORB_1500_13_1, \
AKAZE_DEFAULT, AKAZE_DESCRIPTOR_KAZE, \
BRISK_DEFAULT, \
KAZE_DEFAULT
KAZE_DEFAULT, \
SIFT_DEFAULT
#define CV_ENUM_EXPAND(name, ...) CV_ENUM(name, __VA_ARGS__)
@ -77,6 +78,8 @@ static inline Ptr<Feature2D> getFeature2D(Feature2DType type)
return KAZE::create();
case MSER_DEFAULT:
return MSER::create();
case SIFT_DEFAULT:
return SIFT::create();
default:
return Ptr<Feature2D>();
}

85
modules/features2d/perf/perf_sift.cpp
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@ -1,85 +0,0 @@
// This file is part of OpenCV project.
// It is subject to the license terms in the LICENSE file found in the top-level directory
// of this distribution and at http://opencv.org/license.html.
#include "perf_precomp.hpp"
namespace opencv_test { namespace {
typedef perf::TestBaseWithParam<std::string> SIFT_detect;
typedef perf::TestBaseWithParam<std::string> SIFT_extract;
typedef perf::TestBaseWithParam<std::string> SIFT_full;
#define SIFT_IMAGES \
"cv/detectors_descriptors_evaluation/images_datasets/leuven/img1.png",\
"stitching/a3.png"
PERF_TEST_P_(SIFT_detect, SIFT)
{
string filename = getDataPath(GetParam());
Mat frame = imread(filename, IMREAD_GRAYSCALE);
ASSERT_FALSE(frame.empty()) << "Unable to load source image " << filename;
Mat mask;
declare.in(frame).time(90);
Ptr<SIFT> detector = SIFT::create();
vector<KeyPoint> points;
PERF_SAMPLE_BEGIN();
detector->detect(frame, points, mask);
PERF_SAMPLE_END();
SANITY_CHECK_NOTHING();
}
PERF_TEST_P_(SIFT_extract, SIFT)
{
string filename = getDataPath(GetParam());
Mat frame = imread(filename, IMREAD_GRAYSCALE);
ASSERT_FALSE(frame.empty()) << "Unable to load source image " << filename;
Mat mask;
declare.in(frame).time(90);
Ptr<SIFT> detector = SIFT::create();
vector<KeyPoint> points;
Mat descriptors;
detector->detect(frame, points, mask);
PERF_SAMPLE_BEGIN();
detector->compute(frame, points, descriptors);
PERF_SAMPLE_END();
SANITY_CHECK_NOTHING();
}
PERF_TEST_P_(SIFT_full, SIFT)
{
string filename = getDataPath(GetParam());
Mat frame = imread(filename, IMREAD_GRAYSCALE);
ASSERT_FALSE(frame.empty()) << "Unable to load source image " << filename;
Mat mask;
declare.in(frame).time(90);
Ptr<SIFT> detector = SIFT::create();
vector<KeyPoint> points;
Mat descriptors;
PERF_SAMPLE_BEGIN();
detector->detectAndCompute(frame, mask, points, descriptors, false);
PERF_SAMPLE_END();
SANITY_CHECK_NOTHING();
}
INSTANTIATE_TEST_CASE_P(/*nothing*/, SIFT_detect,
testing::Values(SIFT_IMAGES)
);
INSTANTIATE_TEST_CASE_P(/*nothing*/, SIFT_extract,
testing::Values(SIFT_IMAGES)
);
INSTANTIATE_TEST_CASE_P(/*nothing*/, SIFT_full,
testing::Values(SIFT_IMAGES)
);
}} // namespace

5
modules/features2d/src/sift.dispatch.cpp
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@ -126,6 +126,11 @@ Ptr<SIFT> SIFT::create( int _nfeatures, int _nOctaveLayers,
return makePtr<SIFT_Impl>(_nfeatures, _nOctaveLayers, _contrastThreshold, _edgeThreshold, _sigma);
}
String SIFT::getDefaultName() const
{
return (Feature2D::getDefaultName() + ".SIFT");
}
static inline void
unpackOctave(const KeyPoint& kpt, int& octave, int& layer, float& scale)
{

29
modules/features2d/test/test_descriptors_invariance.cpp
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@ -15,6 +15,26 @@ const static std::string IMAGE_TSUKUBA = "features2d/tsukuba.png";
const static std::string IMAGE_BIKES = "detectors_descriptors_evaluation/images_datasets/bikes/img1.png";
#define Value(...) Values(String_FeatureDetector_DescriptorExtractor_Float_t(__VA_ARGS__))
static
void SetSuitableSIFTOctave(vector<KeyPoint>& keypoints,
int firstOctave = -1, int nOctaveLayers = 3, double sigma = 1.6)
{
for (size_t i = 0; i < keypoints.size(); i++ )
{
int octv, layer;
KeyPoint& kpt = keypoints[i];
double octv_layer = std::log(kpt.size / sigma) / std::log(2.) - 1;
octv = cvFloor(octv_layer);
layer = cvRound( (octv_layer - octv) * nOctaveLayers );
if (octv < firstOctave)
{
octv = firstOctave;
layer = 0;
}
kpt.octave = (layer << 8) | (octv & 255);
}
}
static
void rotateKeyPoints(const vector<KeyPoint>& src, const Mat& H, float angle, vector<KeyPoint>& dst)
{
@ -132,6 +152,10 @@ TEST_P(DescriptorScaleInvariance, scale)
vector<KeyPoint> keypoints1;
scaleKeyPoints(keypoints0, keypoints1, 1.0f/scale);
if (featureDetector->getDefaultName() == "Feature2D.SIFT")
{
SetSuitableSIFTOctave(keypoints1);
}
Mat descriptors1;
descriptorExtractor->compute(image1, keypoints1, descriptors1);
@ -186,9 +210,8 @@ INSTANTIATE_TEST_CASE_P(AKAZE_DESCRIPTOR_KAZE, DescriptorRotationInvariance,
* Descriptor's scale invariance check
*/
// TODO: Expected: (descInliersRatio) >= (minInliersRatio), actual: 0.330378 vs 0.78
INSTANTIATE_TEST_CASE_P(DISABLED_SIFT, DescriptorScaleInvariance,
Value(IMAGE_BIKES, SIFT::create(), SIFT::create(), 0.78f));
INSTANTIATE_TEST_CASE_P(SIFT, DescriptorScaleInvariance,
Value(IMAGE_BIKES, SIFT::create(0, 3, 0.09), SIFT::create(0, 3, 0.09), 0.78f));
INSTANTIATE_TEST_CASE_P(AKAZE, DescriptorScaleInvariance,
Value(IMAGE_BIKES, AKAZE::create(), AKAZE::create(), 0.6f));

10
modules/features2d/test/test_detectors_invariance.cpp
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@ -29,7 +29,6 @@ void matchKeyPoints(const vector<KeyPoint>& keypoints0, const Mat& H,
perspectiveTransform(Mat(points0), points0t, H);
matches.clear();
vector<uchar> usedMask(keypoints1.size(), 0);
for(int i0 = 0; i0 < static_cast<int>(keypoints0.size()); i0++)
{
int nearestPointIndex = -1;
@ -37,8 +36,6 @@ void matchKeyPoints(const vector<KeyPoint>& keypoints0, const Mat& H,
const float r0 = 0.5f * keypoints0[i0].size;
for(size_t i1 = 0; i1 < keypoints1.size(); i1++)
{
if(nearestPointIndex >= 0 && usedMask[i1])
continue;
float r1 = 0.5f * keypoints1[i1].size;
float intersectRatio = calcIntersectRatio(points0t.at<Point2f>(i0), r0,
@ -51,8 +48,6 @@ void matchKeyPoints(const vector<KeyPoint>& keypoints0, const Mat& H,
}
matches.push_back(DMatch(i0, nearestPointIndex, maxIntersectRatio));
if(nearestPointIndex >= 0)
usedMask[nearestPointIndex] = 1;
}
}
@ -239,9 +234,8 @@ INSTANTIATE_TEST_CASE_P(AKAZE_DESCRIPTOR_KAZE, DetectorRotationInvariance,
* Detector's scale invariance check
*/
// TODO: Expected: (keyPointMatchesRatio) >= (minKeyPointMatchesRatio), actual: 0.596752 vs 0.69
INSTANTIATE_TEST_CASE_P(DISABLED_SIFT, DetectorScaleInvariance,
Value(IMAGE_BIKES, SIFT::create(), 0.69f, 0.98f));
INSTANTIATE_TEST_CASE_P(SIFT, DetectorScaleInvariance,
Value(IMAGE_BIKES, SIFT::create(0, 3, 0.09), 0.69f, 0.98f));
INSTANTIATE_TEST_CASE_P(BRISK, DetectorScaleInvariance,
Value(IMAGE_BIKES, BRISK::create(), 0.08f, 0.49f));