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- add missing tests for ORB

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- remove useless code for 2.3
This commit is contained in:
Vincent Rabaud 2011-05-20 23:53:22 +00:00
parent 4b1f183bcd
commit dc37ad803e
2 changed files with 16 additions and 40 deletions
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40
modules/features2d/src/orb.cpp
View File

@ -195,40 +195,6 @@ void HarrisResponse::operator()(std::vector<cv::KeyPoint>& kpts) const
} }
} }
namespace
{
struct RoiPredicate
{
RoiPredicate(const cv::Rect& r) :
r(r)
{
}
bool operator()(const cv::KeyPoint& keyPt) const
{
return !r.contains(keyPt.pt);
}
cv::Rect r;
};
void runByImageBorder(std::vector<cv::KeyPoint>& keypoints, cv::Size imageSize, int borderSize)
{
if (borderSize > 0)
{
keypoints.erase(
std::remove_if(
keypoints.begin(),
keypoints.end(),
RoiPredicate(
cv::Rect(
cv::Point(borderSize, borderSize),
cv::Point(imageSize.width - borderSize,
imageSize.height - borderSize)))), keypoints.end());
}
}
}
//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
inline bool keypointResponseGreater(const cv::KeyPoint& lhs, const cv::KeyPoint& rhs) inline bool keypointResponseGreater(const cv::KeyPoint& lhs, const cv::KeyPoint& rhs)
@ -669,11 +635,7 @@ void ORB::computeKeyPoints(const std::vector<cv::Mat>& image_pyramid, const std:
// Remove keypoints very close to the border // Remove keypoints very close to the border
// half_patch_size_ for orientation, 4 for Harris // half_patch_size_ for orientation, 4 for Harris
unsigned int border_safety = std::max(half_patch_size_, 4); unsigned int border_safety = std::max(half_patch_size_, 4);
#if ((CV_MAJOR_VERSION >= 2) && ((CV_MINOR_VERSION >2) || ((CV_MINOR_VERSION == 2) && (CV_SUBMINOR_VERSION>=9))))
cv::KeyPointsFilter::runByImageBorder(keypoints, image_pyramid[level].size(), border_safety); cv::KeyPointsFilter::runByImageBorder(keypoints, image_pyramid[level].size(), border_safety);
#else
::runByImageBorder(keypoints, image_pyramid[level].size(), border_safety);
#endif
// Keep more points than necessary as FAST does not give amazing corners // Keep more points than necessary as FAST does not give amazing corners
if (keypoints.size() > 2 * n_features_per_level_[level]) if (keypoints.size() > 2 * n_features_per_level_[level])
@ -843,7 +805,7 @@ void ORB::computeDescriptors(const cv::Mat& image, const cv::Mat& integral_image
cv::KeyPointsFilter::runByImageBorder(keypoints, image.size(), border_safety); cv::KeyPointsFilter::runByImageBorder(keypoints, image.size(), border_safety);
// Get the patterns to apply // Get the patterns to apply
cv::Ptr<OrbPatterns> patterns = patterns_[level]; OrbPatterns* patterns = patterns_[level];
//create the descriptor mat, keypoints.size() rows, BYTES cols //create the descriptor mat, keypoints.size() rows, BYTES cols
descriptors = cv::Mat::zeros(keypoints.size(), kBytes, CV_8UC1); descriptors = cv::Mat::zeros(keypoints.size(), kBytes, CV_8UC1);

16
modules/features2d/test/test_features2d.cpp
View File

@ -398,7 +398,7 @@ protected:
double t = (double)getTickCount(); double t = (double)getTickCount();
dextractor->compute( img, keypoints, calcDescriptors ); dextractor->compute( img, keypoints, calcDescriptors );
t = getTickCount() - t; t = getTickCount() - t;
ts->printf(cvtest::TS::LOG, "\nAverage time of computiting one descriptor = %g ms (previous time = %g ms).\n", t/((double)cvGetTickFrequency()*1000.)/calcDescriptors.rows, prevTime ); ts->printf(cvtest::TS::LOG, "\nAverage time of computing one descriptor = %g ms (previous time = %g ms).\n", t/((double)cvGetTickFrequency()*1000.)/calcDescriptors.rows, prevTime );
if( calcDescriptors.rows != (int)keypoints.size() ) if( calcDescriptors.rows != (int)keypoints.size() )
{ {
@ -1009,6 +1009,12 @@ TEST( Features2d_Detector_SURF, regression )
test.safe_run(); test.safe_run();
} }
TEST( Features2d_Detector_ORB, regression )
{
CV_FeatureDetectorTest test( "detector-orb", FeatureDetector::create("ORB") );
test.safe_run();
}
TEST( Features2d_Detector_GridFAST, regression ) TEST( Features2d_Detector_GridFAST, regression )
{ {
CV_FeatureDetectorTest test( "detector-grid-fast", FeatureDetector::create("GridFAST") ); CV_FeatureDetectorTest test( "detector-grid-fast", FeatureDetector::create("GridFAST") );
@ -1038,6 +1044,14 @@ TEST( Features2d_DescriptorExtractor_SURF, regression )
test.safe_run(); test.safe_run();
} }
TEST( Features2d_DescriptorExtractor_ORB, regression )
{
// TODO adjust the parameters below
CV_DescriptorExtractorTest<L2<float> > test( "descriptor-orb", 0.035f,
DescriptorExtractor::create("ORB"), 0.147372f );
test.safe_run();
}
TEST( Features2d_DescriptorExtractor_BRIEF, regression ) TEST( Features2d_DescriptorExtractor_BRIEF, regression )
{ {
CV_DescriptorExtractorTest<Hamming> test( "descriptor-brief", 1, CV_DescriptorExtractorTest<Hamming> test( "descriptor-brief", 1,