Commit Graph

34 Commits

Author SHA1 Message Date
Alexander Alekhin
4a297a2443 ts: refactor OpenCV tests
- removed tr1 usage (dropped in C++17)
- moved includes of vector/map/iostream/limits into ts.hpp
- require opencv_test + anonymous namespace (added compile check)
- fixed norm() usage (must be from cvtest::norm for checks) and other conflict functions
- added missing license headers
2018-02-03 19:39:47 +00:00
Alexander Alekhin
9cdeb6dfbf ocl: increase SURF stitching test tolerance
OpenCL SURF implementation is unstable
2017-10-26 13:03:44 +03:00
Alexander Alekhin
cfb964834c stitching(perf): increase test check tolerance 2017-08-03 19:51:46 +03:00
Jiri Horner
5f20e802d2 Merge pull request #8869 from hrnr:akaze_part1
[GSOC] Speeding-up AKAZE, part #1 (#8869)

* ts: expand arguments before stringifications in CV_ENUM and CV_FLAGS

added protective macros to always force macro expansion of arguments. This allows using CV_ENUM and CV_FLAGS with macro arguments.

* feature2d: unify perf test

use the same test for all detectors/descriptors we have.

* added AKAZE tests

* features2d: extend perf tests

* add BRISK, KAZE, MSER
* run all extract tests on AKAZE keypoints, so that the test si more comparable for the speed of extraction

* feature2d: rework opencl perf tests

use the same configuration as cpu tests

* feature2d: fix descriptors allocation for AKAZE and KAZE

fix crash when descriptors are UMat

* feature2d: name enum to fix build with older gcc

* Revert "ts: expand arguments before stringifications in CV_ENUM and CV_FLAGS"

This reverts commit 19538cac1e.

This wasn't a great idea after all. There is a lot of flags implemented as #define, that we don't want to expand.

* feature2d: fix expansion problems with CV_ENUM in perf

* expand arguments before passing them to CV_ENUM. This does not need modifications of CV_ENUM.
* added include guards to `perf_feature2d.hpp`

* feature2d: fix crash in AKAZE when using KAZE descriptors

* out-of-bound access in Get_MSURF_Descriptor_64
* this happened reliably when running on provided keypoints (not computed by the same instance)

* feature2d: added regression tests for AKAZE

* test with both MLDB and KAZE keypoints

* feature2d: do not compute keypoints orientation twice

* always compute keypoints orientation, when computing keypoints
* do not recompute keypoint orientation when computing descriptors

this allows to test detection and extraction separately

* features2d: fix crash in AKAZE

* out-of-bound reads near the image edge
* same as the bug in KAZE descriptors

* feature2d: refactor invariance testing

* split detectors and descriptors tests
* rewrite to google test to simplify debugging
* add tests for AKAZE and one test for ORB

* stitching: add tests with AKAZE feature finder

* added basic stitching cpu and ocl tests
* fix bug in AKAZE wrapper for stitching pipeline causing lots of
! OPENCV warning: getUMat()/getMat() call chain possible problem.
!                 Base object is dead, while nested/derived object is still alive or processed.
!                 Please check lifetime of UMat/Mat objects!
2017-06-21 14:33:09 +03:00
Alexander Alekhin
e65c6270bf stitching(perf): workaround test failures
force other RNG seed
2017-03-02 13:45:12 +03:00
Alexander Alekhin
522cfa77b8 test: don't check magic values in stitching perf test 2016-10-31 13:37:59 +03:00
Jiri Horner
c17afe0fab Merge pull request #6933 from hrnr:gsoc_all
[GSOC] New camera model for stitching pipeline

* implement estimateAffine2D

estimates affine transformation using robust RANSAC method.

* uses RANSAC framework in calib3d
* includes accuracy test
* uses SVD decomposition for solving 3 point equation

* implement estimateAffinePartial2D

estimates limited affine transformation

* includes accuracy test

* stitching: add affine matcher

initial version of matcher that estimates affine transformation

* stitching: added affine transform estimator

initial version of estimator that simply chain transformations in homogeneous coordinates

* calib3d: rename estimateAffine3D test

test Calib3d_EstimateAffineTransform rename to Calib3d_EstimateAffine3D. This is more descriptive and prevents confusion with estimateAffine2D tests.

* added perf test for estimateAffine functions

tests both estimateAffine2D and estimateAffinePartial2D

* calib3d: compare error in square in estimateAffine2D

* incorporates fix from #6768

* rerun affine estimation on inliers

* stitching: new API for parallel feature finding

due to ABI breakage new functionality is added to `FeaturesFinder2`, `SurfFeaturesFinder2` and `OrbFeaturesFinder2`

* stitching: add tests for parallel feature find API

* perf test (about linear speed up)
* accuracy test compares results with serial version

* stitching: use dynamic_cast to overcome ABI issues

adding parallel API to FeaturesFinder breaks ABI. This commit uses dynamic_cast and hardcodes thread-safe finders to avoid breaking ABI.

This should be replaced by proper method similar to FeaturesMatcher on next ABI break.

* use estimateAffinePartial2D in AffineBestOf2NearestMatcher

* add constructor to AffineBestOf2NearestMatcher

* allows to choose between full affine transform and partial affine transform. Other params are the as for BestOf2NearestMatcher
* added protected field

* samples: stitching_detailed support affine estimator and matcher

* added new flags to choose matcher and estimator

* stitching: rework affine matcher

represent transformation in homogeneous coordinates

affine matcher: remove duplicite code
rework flow to get rid of duplicite code

affine matcher: do not center points to (0, 0)
it is not needed for affine model. it should not affect estimation in any way.

affine matcher: remove unneeded cv namespacing

* stitching: add stub bundle adjuster

* adds stub bundle adjuster that does nothing
* can be used in place of standard bundle adjusters to omit bundle adjusting step

* samples: stitching detailed, support no budle adjust

* uses new NoBundleAdjuster

* added affine warper

* uses R to get whole affine transformation and propagates rotation and translation to plane warper

* add affine warper factory class

* affine warper: compensate transformation

* samples: stitching_detailed add support for affine warper

* add Stitcher::create method

this method follows similar constructor methods and returns smart pointer. This allows constructing Stitcher according to OpenCV guidelines.

* supports multiple stitcher configurations (PANORAMA and SCANS) for convenient setup
* returns cv::Ptr

* stitcher: dynamicaly determine correct estimator

we need to use affine estimator for affine matcher

* preserves ABI (but add hints for ABI 4)
* uses dynamic_cast hack to inject correct estimator

* sample stitching: add support for multiple modes

shows how to use different configurations of stitcher easily (panorama stitching and scans affine model)

* stitcher: find features in parallel

use new FeatureFinder API to find features in parallel. Parallelized using TBB.

* stitching: disable parallel feature finding for OCL

it does not bring much speedup to run features finder in parallel when OpenCL is enabled, because finder needs to wait for OCL device.

Also, currently ORB is not thread-safe when OCL is enabled.

* stitching: move matcher tests

move matchers tests perf_stich.cpp -> perf_matchers.cpp

* stitching: add affine stiching integration test

test basic affine stitching (SCANS mode of stitcher) with images that have only translation between them

* enable surf for stitching tests

stitching.b12 test was failing with surf

investigated the issue, surf is producing good result. Transformation is only slightly different from ORB, so that resulting pano does not exactly match ORB's result. That caused sanity check to fail.

* added size checks similar to other tests
* sanity check will be applied only for ORB

* stitching: fix wrong estimator choice

if case was exactly wrong, estimators were chosen wrong

added logging for estimated transformation

* enable surf for matchers stitching tests

* enable SURF
* rework sanity checking. Check estimated transform instead of matches. Est. transform should be more stable and comparable between SURF and ORB.
* remove regression checking for VectorFeatures tests. It has a lot if data andtest is the same as previous except it test different vector size for performance, so sanity checking does not add any value here. Added basic sanity asserts instead.

* stitching tests: allow relative error for transform

* allows .01 relative error for estimated homography sanity check in stitching matchers tests
* fix VS warning

stitching tests: increase relative error

increase relative error to make it pass on all platforms (results are still good).

stitching test: allow bigger relative error

transformation can differ in small values (with small absolute difference, but large relative difference). transformation output still looks usable for all platforms. This difference affects only mac and windows, linux passes fine with small difference.

* stitching: add tests for affine matcher

uses s1, s2 images. added also new sanity data.

* stitching tests: use different data for matchers tests

this data should yeild more stable transformation (it has much more matches, especially for surf). Sanity data regenerated.

* stitching test: rework tests for matchers

* separated rotation and translations as they are different by scale.
* use appropriate absolute error for them separately. (relative error does not work for values near zero.)

* stitching: fix affine warper compensation

calculation of rotation and translation extracted for plane warper was wrong

* stitching test: enable surf for opencl integration tests

* enable SURF with correct guard (HAVE_OPENCV_XFEATURES2D)
* add OPENCL guard and correct namespace as usual for opencl tests

* stitching: add ocl accuracy test for affine warper

test consistent results with ocl on and off

* stitching: add affine warper ocl perf test

add affine warper to existing warper perf tests. Added new sanity data.

* stitching: do not overwrite inliers in affine matcher

* estimation is run second time on inliers only, inliers produces in second run will not be therefore correct for all matches

* calib3d: add Levenberg–Marquardt refining to estimateAffine2D* functions

this adds affine Levenberg–Marquardt refining to estimateAffine2D functions similar to what is done in findHomography.

implements Levenberg–Marquardt refinig for both full affine and partial affine transformations.

* stitching: remove reestimation step in affine matcher

reestimation step is not needed. estimateAffine2D* functions are running their own reestimation on inliers using the Levenberg-Marquardt algorithm, which is better than simply rerunning RANSAC on inliers.

* implement partial affine bundle adjuster

bundle adjuster that expect affine transform with 4DOF. Refines parameters for all cameras together.

stitching: fix bug in BundleAdjusterAffinePartial

* use the invers properly
* use static buffer for invers to speed it up

* samples: add affine bundle adjuster option to stitching_detailed

* add support for using affine bundle adjuster with 4DOF
* improve logging of initial intristics

* sttiching: add affine bundle adjuster test

* fix build warnings

* stitching: increase limit on sanity check

prevents spurious test failures on mac. values are still pretty fine.

* stitching: set affine bundle adjuster for SCANS mode

* fix bug with AffineBestOf2NearestMatcher (we want to select affine partial mode)
* select right bundle adjuster

* stitching: increase error bound for matcher tests

* this prevents failure on mac. tranformation is still ok.

* stitching: implement affine bundle adjuster

* implements affine bundle adjuster that is using full affine transform
* existing test case modified to test both affinePartial an full affine bundle adjuster

* add stitching tutorial

* show basic usage of stitching api (Stitcher class)

* stitching: add more integration test for affine stitching

* added new datasets to existing testcase
* removed unused include

* calib3d: move `haveCollinearPoints` to common header

* added comment to make that this also checks too close points

* calib3d: redone checkSubset for estimateAffine* callback

* use common function to check collinearity
* this also ensures that point will not be too close to each other

* calib3d: change estimateAffine* functions API

* more similar to `findHomography`, `findFundamentalMat`, `findEssentialMat` and similar
* follows standard recommended semantic INPUTS, OUTPUTS, FLAGS
* allows to disable refining
* supported LMEDS robust method (tests yet to come) along with RANSAC
* extended docs with some tips

* calib3d: rewrite estimateAffine2D test

* rewrite in googletest style
* parametrize to test both robust methods (RANSAC and LMEDS)
* get rid of boilerplate

* calib3d: rework estimateAffinePartial2D test

* rework in googletest style
* add testing for LMEDS

* calib3d: rework estimateAffine*2D perf test

* test for LMEDS speed
* test with/without Levenberg-Marquart
* remove sanity checking (this is covered by accuracy tests)

* calib3d: improve estimateAffine*2D tests

* test transformations in loop
* improves test by testing more potential transformations

* calib3d: rewrite kernels for estimateAffine*2D functions

* use analytical solution instead of SVD
* this version is faster especially for smaller amount of points

* calib3d: tune up perf of estimateAffine*2D functions

* avoid copying inliers
* avoid converting input points if not necessary
* check only `from` point for collinearity, as `to` does not affect stability of transform

* tutorials: add commands examples to stitching tutorials

* add some examples how to run stitcher sample code
* mention stitching_detailed.cpp

* calib3d: change computeError for estimateAffine*2D

* do error computing in floats instead of doubles

this have required precision + we were storing the result in float anyway. This make code faster and allows auto-vectorization by smart compilers.

* documentation: mention estimateAffine*2D function

* refer to new functions on appropriate places
* prefer estimateAffine*2D over estimateRigidTransform

* stitching: add camera models documentations

* mention camera models in module documentation to give user a better overview and reduce confusion
2016-10-22 19:10:42 +03:00
StevenPuttemans
d27e440b2a continue fixing nonfree elements
fixed dependency of stitching module on xfeatures2d module as optional
fixed the initModule_xfeatures2d function that was called in module stitching since it is in another namespace than the standard cv one.
2014-08-28 13:30:47 +02:00
vbystricky
4286f60387 Extract imgcodecs module from highgui 2014-07-07 16:28:08 +04:00
Alexander Alekhin
71f871fafd replaced sanity check condition for stitching perf test 2014-04-30 18:02:06 +04:00
Roman Donchenko
f21851f0f4 Boring changes - stitching. 2013-09-05 19:02:58 +04:00
Andrey Kamaev
517062039e Make core/internal.hpp a private header 2013-04-01 17:29:10 +04:00
Andrey Kamaev
ad5cddc007 Main module headers are moved 1 level up
e.g. <opencv2/core/core.hpp> become <opencv2/core.hpp>

Also renamed <opencv2/core/opengl_interop.hpp> to <opencv2/core/opengl.hpp>
2013-03-13 17:26:56 +04:00
Andrey Kamaev
2a6fb2867e Remove all using directives for STL namespace and members
Made all STL usages explicit to be able automatically find all usages of
particular class or function.
2013-02-25 15:04:17 +04:00
Anna Kogan
ed4c687d45 Increased time limits, eliminated extra params 2013-01-31 16:18:52 +04:00
Andrey Kamaev
5a407153bd Fix sanity checks in stitching test 2012-12-12 20:29:23 +04:00
Andrey Kamaev
6e244c83cd Corrected sanity checks in several perf tests
Also fixed a typo in performance testing framework and removed hardcoded
temporary file name from highgui perf test
2012-12-12 01:00:47 +04:00
Andrey Kamaev
7cc67701a6 Add sanity checks to stitching perf tests 2012-10-09 19:17:58 +04:00
Vadim Pisarevsky
06a13d9ba0 replaced jpegs with png's. Accuracy tests pass; performance tests were not tried yet 2012-10-02 23:07:46 +04:00
Daniil Osokin
45c49a9088 Added perf test 2012-08-10 17:37:48 +04:00
Daniil Osokin
e37b9469da Added perf tests 2012-08-10 17:17:09 +04:00
Andrey Kamaev
e94e5866a1 Fixed mingw build warnings 2012-06-20 17:57:26 +00:00
Andrey Kamaev
d48d7b2b46 Updated warning options for GCC; fixed new warnings. 2012-06-20 12:27:02 +00:00
Andrey Kamaev
2f40905548 Fixed Android build 2012-06-08 08:11:17 +00:00
Andrey Kamaev
f62028dc16 Fixed mingw build. 2012-06-08 03:15:08 +00:00
Andrey Kamaev
49a1ba6038 Set stricter warning rules for gcc 2012-06-07 17:21:29 +00:00
Vadim Pisarevsky
d5a0088bbe merged 2.4 into trunk 2012-04-30 14:33:52 +00:00
Anatoly Baksheev
84db4eb6fa fixed ~200 warnings for windows
minor build system changes (now cuda code in opencv_core is compiled using CUDA_ARCH* cmake variables)
2012-02-14 10:22:34 +00:00
Andrey Kamaev
65f5343ed5 Refactored performance tests. TEST_CYCLE macro is renamed to TEST_CYCLE_N; SIMPLE_TEST_CYCLE is renamed to TEST_CYCLE; from now 100 iterations are default for performance tests 2011-12-29 16:46:16 +00:00
Andrey Kamaev
0744092b21 Fixed build with gcc compiler; couple minor improvements in perf testing framework 2011-12-16 04:42:34 +00:00
Andrey Kamaev
b720eddd9e Tegra-optimized features matching for Stitching 2011-10-27 14:06:06 +00:00
Andrey Kamaev
f299bde3a9 Added ORB features finder into stitching module 2011-10-19 10:48:45 +00:00
Andrey Kamaev
5d363e67a0 Tegra optimized cvRound; perf test for cvRound; fixed perf test for stitching 2011-09-29 12:11:18 +00:00
Andrey Pavlenko
94b3bb154e Perf Tests: default stitching scenario. 2011-09-13 11:19:40 +00:00