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https://github.com/opencv/opencv.git
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a6277370ca
resolves #21038 * remove C assert * revert C header * fix several points in review * fix test_ds.cpp
536 lines
20 KiB
C++
536 lines
20 KiB
C++
/*M///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// Intel License Agreement
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// For Open Source Computer Vision Library
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//
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// Copyright (C) 2000, Intel Corporation, all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other materials provided with the distribution.
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//
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// * The name of Intel Corporation may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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//
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// This software is provided by the copyright holders and contributors "as is" and
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// any express or implied warranties, including, but not limited to, the implied
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// warranties of merchantability and fitness for a particular purpose are disclaimed.
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// In no event shall the Intel Corporation or contributors be liable for any direct,
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// indirect, incidental, special, exemplary, or consequential damages
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// (including, but not limited to, procurement of substitute goods or services;
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// loss of use, data, or profits; or business interruption) however caused
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// and on any theory of liability, whether in contract, strict liability,
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// or tort (including negligence or otherwise) arising in any way out of
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "test_precomp.hpp"
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namespace opencv_test { namespace {
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const string FEATURES2D_DIR = "features2d";
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const string IMAGE_FILENAME = "tsukuba.png";
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const string DESCRIPTOR_DIR = FEATURES2D_DIR + "/descriptor_extractors";
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/****************************************************************************************\
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* Regression tests for descriptor extractors. *
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\****************************************************************************************/
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static void writeMatInBin( const Mat& mat, const string& filename )
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{
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FILE* f = fopen( filename.c_str(), "wb");
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if( f )
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{
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CV_Assert(4 == sizeof(int));
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int type = mat.type();
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fwrite( (void*)&mat.rows, sizeof(int), 1, f );
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fwrite( (void*)&mat.cols, sizeof(int), 1, f );
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fwrite( (void*)&type, sizeof(int), 1, f );
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int dataSize = (int)(mat.step * mat.rows);
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fwrite( (void*)&dataSize, sizeof(int), 1, f );
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fwrite( (void*)mat.ptr(), 1, dataSize, f );
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fclose(f);
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}
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}
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static Mat readMatFromBin( const string& filename )
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{
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FILE* f = fopen( filename.c_str(), "rb" );
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if( f )
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{
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CV_Assert(4 == sizeof(int));
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int rows, cols, type, dataSize;
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size_t elements_read1 = fread( (void*)&rows, sizeof(int), 1, f );
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size_t elements_read2 = fread( (void*)&cols, sizeof(int), 1, f );
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size_t elements_read3 = fread( (void*)&type, sizeof(int), 1, f );
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size_t elements_read4 = fread( (void*)&dataSize, sizeof(int), 1, f );
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CV_Assert(elements_read1 == 1 && elements_read2 == 1 && elements_read3 == 1 && elements_read4 == 1);
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int step = dataSize / rows / CV_ELEM_SIZE(type);
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CV_Assert(step >= cols);
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Mat returnMat = Mat(rows, step, type).colRange(0, cols);
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size_t elements_read = fread( returnMat.ptr(), 1, dataSize, f );
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CV_Assert(elements_read == (size_t)(dataSize));
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fclose(f);
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return returnMat;
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}
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return Mat();
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}
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template<class Distance>
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class CV_DescriptorExtractorTest : public cvtest::BaseTest
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{
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public:
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typedef typename Distance::ValueType ValueType;
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typedef typename Distance::ResultType DistanceType;
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CV_DescriptorExtractorTest( const string _name, DistanceType _maxDist, const Ptr<DescriptorExtractor>& _dextractor,
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Distance d = Distance(), Ptr<FeatureDetector> _detector = Ptr<FeatureDetector>()):
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name(_name), maxDist(_maxDist), dextractor(_dextractor), distance(d) , detector(_detector) {}
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~CV_DescriptorExtractorTest()
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{
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}
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protected:
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virtual void createDescriptorExtractor() {}
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void compareDescriptors( const Mat& validDescriptors, const Mat& calcDescriptors )
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{
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if( validDescriptors.size != calcDescriptors.size || validDescriptors.type() != calcDescriptors.type() )
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{
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ts->printf(cvtest::TS::LOG, "Valid and computed descriptors matrices must have the same size and type.\n");
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ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_TEST_DATA );
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return;
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}
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CV_Assert( DataType<ValueType>::type == validDescriptors.type() );
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int dimension = validDescriptors.cols;
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DistanceType curMaxDist = 0;
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size_t exact_count = 0, failed_count = 0;
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for( int y = 0; y < validDescriptors.rows; y++ )
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{
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DistanceType dist = distance( validDescriptors.ptr<ValueType>(y), calcDescriptors.ptr<ValueType>(y), dimension );
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if (dist == 0)
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exact_count++;
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if( dist > curMaxDist )
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{
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if (dist > maxDist)
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failed_count++;
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curMaxDist = dist;
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}
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#if 0
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if (dist > 0)
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{
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std::cout << "i=" << y << " fail_count=" << failed_count << " dist=" << dist << std::endl;
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std::cout << "valid: " << validDescriptors.row(y) << std::endl;
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std::cout << " calc: " << calcDescriptors.row(y) << std::endl;
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}
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#endif
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}
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float exact_percents = (100 * (float)exact_count / validDescriptors.rows);
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float failed_percents = (100 * (float)failed_count / validDescriptors.rows);
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std::stringstream ss;
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ss << "Exact count (dist == 0): " << exact_count << " (" << (int)exact_percents << "%)" << std::endl
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<< "Failed count (dist > " << maxDist << "): " << failed_count << " (" << (int)failed_percents << "%)" << std::endl
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<< "Max distance between valid and computed descriptors (" << validDescriptors.size() << "): " << curMaxDist;
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EXPECT_LE(failed_percents, 20.0f);
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std::cout << ss.str() << std::endl;
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}
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void emptyDataTest()
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{
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CV_Assert( dextractor );
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// One image.
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Mat image;
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vector<KeyPoint> keypoints;
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Mat descriptors;
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try
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{
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dextractor->compute( image, keypoints, descriptors );
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}
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catch(...)
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{
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ts->printf( cvtest::TS::LOG, "compute() on empty image and empty keypoints must not generate exception (1).\n");
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ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_TEST_DATA );
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}
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RNG rng;
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image = cvtest::randomMat(rng, Size(50, 50), CV_8UC3, 0, 255, false);
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try
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{
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dextractor->compute( image, keypoints, descriptors );
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}
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catch(...)
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{
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ts->printf( cvtest::TS::LOG, "compute() on nonempty image and empty keypoints must not generate exception (1).\n");
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ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_TEST_DATA );
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}
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// Several images.
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vector<Mat> images;
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vector<vector<KeyPoint> > keypointsCollection;
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vector<Mat> descriptorsCollection;
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try
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{
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dextractor->compute( images, keypointsCollection, descriptorsCollection );
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}
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catch(...)
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{
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ts->printf( cvtest::TS::LOG, "compute() on empty images and empty keypoints collection must not generate exception (2).\n");
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ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_TEST_DATA );
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}
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}
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void regressionTest()
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{
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CV_Assert( dextractor );
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// Read the test image.
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string imgFilename = string(ts->get_data_path()) + FEATURES2D_DIR + "/" + IMAGE_FILENAME;
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Mat img = imread( imgFilename );
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if( img.empty() )
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{
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ts->printf( cvtest::TS::LOG, "Image %s can not be read.\n", imgFilename.c_str() );
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ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_TEST_DATA );
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return;
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}
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const std::string keypoints_filename = string(ts->get_data_path()) +
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(detector.empty()
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? (FEATURES2D_DIR + "/" + std::string("keypoints.xml.gz"))
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: (DESCRIPTOR_DIR + "/" + name + "_keypoints.xml.gz"));
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FileStorage fs(keypoints_filename, FileStorage::READ);
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vector<KeyPoint> keypoints;
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EXPECT_TRUE(fs.isOpened()) << "Keypoint testdata is missing. Re-computing and re-writing keypoints testdata...";
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if (!fs.isOpened())
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{
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fs.open(keypoints_filename, FileStorage::WRITE);
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ASSERT_TRUE(fs.isOpened()) << "File for writing keypoints can not be opened.";
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if (detector.empty())
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{
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Ptr<ORB> fd = ORB::create();
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fd->detect(img, keypoints);
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}
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else
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{
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detector->detect(img, keypoints);
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}
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write(fs, "keypoints", keypoints);
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fs.release();
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}
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else
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{
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read(fs.getFirstTopLevelNode(), keypoints);
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fs.release();
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}
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if(!detector.empty())
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{
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vector<KeyPoint> calcKeypoints;
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detector->detect(img, calcKeypoints);
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// TODO validate received keypoints
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int diff = abs((int)calcKeypoints.size() - (int)keypoints.size());
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if (diff > 0)
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{
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std::cout << "Keypoints difference: " << diff << std::endl;
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EXPECT_LE(diff, (int)(keypoints.size() * 0.03f));
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}
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}
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ASSERT_FALSE(keypoints.empty());
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{
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Mat calcDescriptors;
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double t = (double)getTickCount();
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dextractor->compute(img, keypoints, calcDescriptors);
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t = getTickCount() - t;
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ts->printf(cvtest::TS::LOG, "\nAverage time of computing one descriptor = %g ms.\n", t/((double)getTickFrequency()*1000.)/calcDescriptors.rows);
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if (calcDescriptors.rows != (int)keypoints.size())
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{
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ts->printf( cvtest::TS::LOG, "Count of computed descriptors and keypoints count must be equal.\n" );
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ts->printf( cvtest::TS::LOG, "Count of keypoints is %d.\n", (int)keypoints.size() );
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ts->printf( cvtest::TS::LOG, "Count of computed descriptors is %d.\n", calcDescriptors.rows );
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ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
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return;
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}
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if (calcDescriptors.cols != dextractor->descriptorSize() || calcDescriptors.type() != dextractor->descriptorType())
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{
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ts->printf( cvtest::TS::LOG, "Incorrect descriptor size or descriptor type.\n" );
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ts->printf( cvtest::TS::LOG, "Expected size is %d.\n", dextractor->descriptorSize() );
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ts->printf( cvtest::TS::LOG, "Calculated size is %d.\n", calcDescriptors.cols );
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ts->printf( cvtest::TS::LOG, "Expected type is %d.\n", dextractor->descriptorType() );
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ts->printf( cvtest::TS::LOG, "Calculated type is %d.\n", calcDescriptors.type() );
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ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
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return;
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}
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// TODO read and write descriptor extractor parameters and check them
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Mat validDescriptors = readDescriptors();
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EXPECT_FALSE(validDescriptors.empty()) << "Descriptors testdata is missing. Re-writing descriptors testdata...";
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if (!validDescriptors.empty())
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{
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compareDescriptors(validDescriptors, calcDescriptors);
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}
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else
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{
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ASSERT_TRUE(writeDescriptors(calcDescriptors)) << "Descriptors can not be written.";
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}
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}
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}
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void run(int)
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{
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createDescriptorExtractor();
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if( !dextractor )
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{
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ts->printf(cvtest::TS::LOG, "Descriptor extractor is empty.\n");
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ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_TEST_DATA );
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return;
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}
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emptyDataTest();
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regressionTest();
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ts->set_failed_test_info( cvtest::TS::OK );
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}
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virtual Mat readDescriptors()
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{
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Mat res = readMatFromBin( string(ts->get_data_path()) + DESCRIPTOR_DIR + "/" + string(name) );
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return res;
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}
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virtual bool writeDescriptors( Mat& descs )
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{
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writeMatInBin( descs, string(ts->get_data_path()) + DESCRIPTOR_DIR + "/" + string(name) );
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return true;
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}
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string name;
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const DistanceType maxDist;
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Ptr<DescriptorExtractor> dextractor;
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Distance distance;
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Ptr<FeatureDetector> detector;
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private:
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CV_DescriptorExtractorTest& operator=(const CV_DescriptorExtractorTest&) { return *this; }
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};
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/****************************************************************************************\
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* Tests registrations *
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\****************************************************************************************/
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TEST( Features2d_DescriptorExtractor_SIFT, regression )
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{
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CV_DescriptorExtractorTest<L1<float> > test( "descriptor-sift", 1.0f,
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SIFT::create() );
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test.safe_run();
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}
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TEST( Features2d_DescriptorExtractor_BRISK, regression )
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{
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CV_DescriptorExtractorTest<Hamming> test( "descriptor-brisk",
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(CV_DescriptorExtractorTest<Hamming>::DistanceType)2.f,
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BRISK::create() );
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test.safe_run();
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}
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TEST( Features2d_DescriptorExtractor_ORB, regression )
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{
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// TODO adjust the parameters below
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CV_DescriptorExtractorTest<Hamming> test( "descriptor-orb",
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#if CV_NEON
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(CV_DescriptorExtractorTest<Hamming>::DistanceType)25.f,
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#else
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(CV_DescriptorExtractorTest<Hamming>::DistanceType)12.f,
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#endif
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ORB::create() );
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test.safe_run();
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}
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TEST( Features2d_DescriptorExtractor_KAZE, regression )
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{
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CV_DescriptorExtractorTest< L2<float> > test( "descriptor-kaze", 0.03f,
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KAZE::create(),
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L2<float>(), KAZE::create() );
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test.safe_run();
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}
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TEST( Features2d_DescriptorExtractor_AKAZE, regression )
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{
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CV_DescriptorExtractorTest<Hamming> test( "descriptor-akaze",
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(CV_DescriptorExtractorTest<Hamming>::DistanceType)(486*0.05f),
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AKAZE::create(),
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Hamming(), AKAZE::create());
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test.safe_run();
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}
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TEST( Features2d_DescriptorExtractor_AKAZE_DESCRIPTOR_KAZE, regression )
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{
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CV_DescriptorExtractorTest< L2<float> > test( "descriptor-akaze-with-kaze-desc", 0.03f,
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AKAZE::create(AKAZE::DESCRIPTOR_KAZE),
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L2<float>(), AKAZE::create(AKAZE::DESCRIPTOR_KAZE));
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test.safe_run();
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}
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TEST( Features2d_DescriptorExtractor, batch_ORB )
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{
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string path = string(cvtest::TS::ptr()->get_data_path() + "detectors_descriptors_evaluation/images_datasets/graf");
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vector<Mat> imgs, descriptors;
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vector<vector<KeyPoint> > keypoints;
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int i, n = 6;
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Ptr<ORB> orb = ORB::create();
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for( i = 0; i < n; i++ )
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{
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string imgname = format("%s/img%d.png", path.c_str(), i+1);
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Mat img = imread(imgname, 0);
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imgs.push_back(img);
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}
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orb->detect(imgs, keypoints);
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orb->compute(imgs, keypoints, descriptors);
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ASSERT_EQ((int)keypoints.size(), n);
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ASSERT_EQ((int)descriptors.size(), n);
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for( i = 0; i < n; i++ )
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{
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EXPECT_GT((int)keypoints[i].size(), 100);
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EXPECT_GT(descriptors[i].rows, 100);
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}
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}
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TEST( Features2d_DescriptorExtractor, batch_SIFT )
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{
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string path = string(cvtest::TS::ptr()->get_data_path() + "detectors_descriptors_evaluation/images_datasets/graf");
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vector<Mat> imgs, descriptors;
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vector<vector<KeyPoint> > keypoints;
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int i, n = 6;
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Ptr<SIFT> sift = SIFT::create();
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for( i = 0; i < n; i++ )
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{
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string imgname = format("%s/img%d.png", path.c_str(), i+1);
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Mat img = imread(imgname, 0);
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imgs.push_back(img);
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}
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sift->detect(imgs, keypoints);
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sift->compute(imgs, keypoints, descriptors);
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ASSERT_EQ((int)keypoints.size(), n);
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ASSERT_EQ((int)descriptors.size(), n);
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for( i = 0; i < n; i++ )
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{
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EXPECT_GT((int)keypoints[i].size(), 100);
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EXPECT_GT(descriptors[i].rows, 100);
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}
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}
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class DescriptorImage : public TestWithParam<std::string>
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{
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protected:
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virtual void SetUp() {
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pattern = GetParam();
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}
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std::string pattern;
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};
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TEST_P(DescriptorImage, no_crash)
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{
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vector<String> fnames;
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glob(cvtest::TS::ptr()->get_data_path() + pattern, fnames, false);
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sort(fnames.begin(), fnames.end());
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Ptr<AKAZE> akaze_mldb = AKAZE::create(AKAZE::DESCRIPTOR_MLDB);
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Ptr<AKAZE> akaze_mldb_upright = AKAZE::create(AKAZE::DESCRIPTOR_MLDB_UPRIGHT);
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Ptr<AKAZE> akaze_mldb_256 = AKAZE::create(AKAZE::DESCRIPTOR_MLDB, 256);
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Ptr<AKAZE> akaze_mldb_upright_256 = AKAZE::create(AKAZE::DESCRIPTOR_MLDB_UPRIGHT, 256);
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Ptr<AKAZE> akaze_kaze = AKAZE::create(AKAZE::DESCRIPTOR_KAZE);
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Ptr<AKAZE> akaze_kaze_upright = AKAZE::create(AKAZE::DESCRIPTOR_KAZE_UPRIGHT);
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Ptr<ORB> orb = ORB::create();
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Ptr<KAZE> kaze = KAZE::create();
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|
Ptr<BRISK> brisk = BRISK::create();
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|
size_t n = fnames.size();
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|
vector<KeyPoint> keypoints;
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|
Mat descriptors;
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|
orb->setMaxFeatures(5000);
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|
|
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for(size_t i = 0; i < n; i++ )
|
|
{
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|
printf("%d. image: %s:\n", (int)i, fnames[i].c_str());
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|
if( strstr(fnames[i].c_str(), "MP.png") != 0 )
|
|
{
|
|
printf("\tskip\n");
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|
continue;
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|
}
|
|
bool checkCount = strstr(fnames[i].c_str(), "templ.png") == 0;
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|
|
|
Mat img = imread(fnames[i], -1);
|
|
|
|
printf("\t%dx%d\n", img.cols, img.rows);
|
|
|
|
#define TEST_DETECTOR(name, descriptor) \
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|
keypoints.clear(); descriptors.release(); \
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|
printf("\t" name "\n"); fflush(stdout); \
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|
descriptor->detectAndCompute(img, noArray(), keypoints, descriptors); \
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|
printf("\t\t\t(%d keypoints, descriptor size = %d)\n", (int)keypoints.size(), descriptors.cols); fflush(stdout); \
|
|
if (checkCount) \
|
|
{ \
|
|
EXPECT_GT((int)keypoints.size(), 0); \
|
|
} \
|
|
ASSERT_EQ(descriptors.rows, (int)keypoints.size());
|
|
|
|
TEST_DETECTOR("AKAZE:MLDB", akaze_mldb);
|
|
TEST_DETECTOR("AKAZE:MLDB_UPRIGHT", akaze_mldb_upright);
|
|
TEST_DETECTOR("AKAZE:MLDB_256", akaze_mldb_256);
|
|
TEST_DETECTOR("AKAZE:MLDB_UPRIGHT_256", akaze_mldb_upright_256);
|
|
TEST_DETECTOR("AKAZE:KAZE", akaze_kaze);
|
|
TEST_DETECTOR("AKAZE:KAZE_UPRIGHT", akaze_kaze_upright);
|
|
TEST_DETECTOR("KAZE", kaze);
|
|
TEST_DETECTOR("ORB", orb);
|
|
TEST_DETECTOR("BRISK", brisk);
|
|
}
|
|
}
|
|
|
|
INSTANTIATE_TEST_CASE_P(Features2d, DescriptorImage,
|
|
testing::Values(
|
|
"shared/lena.png",
|
|
"shared/box*.png",
|
|
"shared/fruits*.png",
|
|
"shared/airplane.png",
|
|
"shared/graffiti.png",
|
|
"shared/1_itseez-0001*.png",
|
|
"shared/pic*.png",
|
|
"shared/templ.png"
|
|
)
|
|
);
|
|
|
|
}} // namespace
|