527 lines
16 KiB
C++
527 lines
16 KiB
C++
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/*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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enum { MINEIGENVAL=0, HARRIS=1, EIGENVALSVECS=2 };
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#if 0 //set 1 to switch ON debug message
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#define TEST_MESSAGE( message ) std::cout << message;
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#define TEST_MESSAGEL( message, val) std::cout << message << val << std::endl;
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#else
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#define TEST_MESSAGE( message )
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#define TEST_MESSAGEL( message, val)
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#endif
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/////////////////////ref//////////////////////
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struct greaterThanPtr
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{
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bool operator () (const float * a, const float * b) const
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{ return *a > *b; }
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};
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static void
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test_cornerEigenValsVecs( const Mat& src, Mat& eigenv, int block_size,
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int _aperture_size, double k, int mode, int borderType, const Scalar& _borderValue )
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{
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int i, j;
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Scalar borderValue = _borderValue;
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int aperture_size = _aperture_size < 0 ? 3 : _aperture_size;
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Point anchor( aperture_size/2, aperture_size/2 );
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CV_Assert( src.type() == CV_8UC1 || src.type() == CV_32FC1 );
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CV_Assert( eigenv.type() == CV_32FC1 );
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CV_Assert( ( src.rows == eigenv.rows ) &&
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(((mode == MINEIGENVAL)||(mode == HARRIS)) && (src.cols == eigenv.cols)) );
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int type = src.type();
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int ftype = CV_32FC1;
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double kernel_scale = 1;
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Mat dx2, dy2, dxdy(src.size(), CV_32F), kernel;
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kernel = cvtest::calcSobelKernel2D( 1, 0, _aperture_size );
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cvtest::filter2D( src, dx2, ftype, kernel*kernel_scale, anchor, 0, borderType, borderValue );
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kernel = cvtest::calcSobelKernel2D( 0, 1, _aperture_size );
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cvtest::filter2D( src, dy2, ftype, kernel*kernel_scale, anchor, 0, borderType,borderValue );
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double denom = (1 << (aperture_size-1))*block_size;
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if( _aperture_size < 0 )
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denom *= 2.;
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if(type != ftype )
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denom *= 255.;
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denom = 1. / (denom * denom);
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for( i = 0; i < src.rows; i++ )
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{
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float* dxdyp = dxdy.ptr<float>(i);
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float* dx2p = dx2.ptr<float>(i);
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float* dy2p = dy2.ptr<float>(i);
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for( j = 0; j < src.cols; j++ )
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{
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double xval = dx2p[j], yval = dy2p[j];
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dxdyp[j] = (float)(xval*yval*denom);
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dx2p[j] = (float)(xval*xval*denom);
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dy2p[j] = (float)(yval*yval*denom);
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}
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}
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kernel = Mat::ones(block_size, block_size, CV_32F);
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anchor = Point(block_size/2, block_size/2);
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cvtest::filter2D( dx2, dx2, ftype, kernel, anchor, 0, borderType, borderValue );
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cvtest::filter2D( dy2, dy2, ftype, kernel, anchor, 0, borderType, borderValue );
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cvtest::filter2D( dxdy, dxdy, ftype, kernel, anchor, 0, borderType, borderValue );
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if( mode == MINEIGENVAL )
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{
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for( i = 0; i < src.rows; i++ )
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{
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float* eigenvp = eigenv.ptr<float>(i);
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const float* dxdyp = dxdy.ptr<float>(i);
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const float* dx2p = dx2.ptr<float>(i);
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const float* dy2p = dy2.ptr<float>(i);
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for( j = 0; j < src.cols; j++ )
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{
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double a = dx2p[j], b = dxdyp[j], c = dy2p[j];
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double d = sqrt( ( a - c )*( a - c ) + 4*b*b );
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eigenvp[j] = (float)( 0.5*(a + c - d));
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}
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}
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}
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else if( mode == HARRIS )
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{
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for( i = 0; i < src.rows; i++ )
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{
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float* eigenvp = eigenv.ptr<float>(i);
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const float* dxdyp = dxdy.ptr<float>(i);
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const float* dx2p = dx2.ptr<float>(i);
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const float* dy2p = dy2.ptr<float>(i);
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for( j = 0; j < src.cols; j++ )
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{
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double a = dx2p[j], b = dxdyp[j], c = dy2p[j];
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eigenvp[j] = (float)(a*c - b*b - k*(a + c)*(a + c));
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}
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}
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}
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}
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static void
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test_goodFeaturesToTrack( InputArray _image, OutputArray _corners,
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int maxCorners, double qualityLevel, double minDistance,
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InputArray _mask, OutputArray _cornersQuality,
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int blockSize, int gradientSize, bool useHarrisDetector, double harrisK)
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{
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CV_Assert( qualityLevel > 0 && minDistance >= 0 && maxCorners >= 0 );
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CV_Assert( _mask.empty() || (_mask.type() == CV_8UC1 && _mask.sameSize(_image)) );
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Mat image = _image.getMat(), mask = _mask.getMat();
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int aperture_size = gradientSize;
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int borderType = BORDER_DEFAULT;
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Mat eig, tmp, tt;
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eig.create( image.size(), CV_32F );
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if( useHarrisDetector )
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test_cornerEigenValsVecs( image, eig, blockSize, aperture_size, harrisK, HARRIS, borderType, 0 );
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else
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test_cornerEigenValsVecs( image, eig, blockSize, aperture_size, 0, MINEIGENVAL, borderType, 0 );
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double maxVal = 0;
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cvtest::minMaxIdx( eig, 0, &maxVal, 0, 0, mask );
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cvtest::threshold( eig, eig, (float)(maxVal*qualityLevel), 0.f,THRESH_TOZERO );
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cvtest::dilate( eig, tmp, Mat(),Point(-1,-1),borderType,0);
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Size imgsize = image.size();
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vector<const float*> tmpCorners;
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// collect list of pointers to features - put them into temporary image
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for( int y = 1; y < imgsize.height - 1; y++ )
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{
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const float* eig_data = (const float*)eig.ptr(y);
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const float* tmp_data = (const float*)tmp.ptr(y);
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const uchar* mask_data = mask.data ? mask.ptr(y) : 0;
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for( int x = 1; x < imgsize.width - 1; x++ )
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{
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float val = eig_data[x];
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if( val != 0 && val == tmp_data[x] && (!mask_data || mask_data[x]) )
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{
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tmpCorners.push_back(eig_data + x);
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}
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}
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}
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vector<Point2f> corners;
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vector<float> cornersQuality;
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size_t i, j, total = tmpCorners.size(), ncorners = 0;
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std::sort( tmpCorners.begin(), tmpCorners.end(), greaterThanPtr() );
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if(minDistance >= 1)
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{
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// Partition the image into larger grids
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int w = image.cols;
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int h = image.rows;
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const int cell_size = cvRound(minDistance);
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const int grid_width = (w + cell_size - 1) / cell_size;
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const int grid_height = (h + cell_size - 1) / cell_size;
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std::vector<std::vector<Point2f> > grid(grid_width*grid_height);
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minDistance *= minDistance;
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for( i = 0; i < total; i++ )
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{
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int ofs = (int)((const uchar*)tmpCorners[i] - eig.data);
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int y = (int)(ofs / eig.step);
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int x = (int)((ofs - y*eig.step)/sizeof(float));
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bool good = true;
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int x_cell = x / cell_size;
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int y_cell = y / cell_size;
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int x1 = x_cell - 1;
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int y1 = y_cell - 1;
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int x2 = x_cell + 1;
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int y2 = y_cell + 1;
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// boundary check
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x1 = std::max(0, x1);
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y1 = std::max(0, y1);
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x2 = std::min(grid_width-1, x2);
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y2 = std::min(grid_height-1, y2);
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for( int yy = y1; yy <= y2; yy++ )
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{
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for( int xx = x1; xx <= x2; xx++ )
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{
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vector <Point2f> &m = grid[yy*grid_width + xx];
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if( m.size() )
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{
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for(j = 0; j < m.size(); j++)
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{
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float dx = x - m[j].x;
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float dy = y - m[j].y;
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if( dx*dx + dy*dy < minDistance )
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{
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good = false;
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goto break_out;
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}
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}
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}
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}
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}
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break_out:
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if(good)
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{
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grid[y_cell*grid_width + x_cell].push_back(Point2f((float)x, (float)y));
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cornersQuality.push_back(*tmpCorners[i]);
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corners.push_back(Point2f((float)x, (float)y));
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++ncorners;
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if( maxCorners > 0 && (int)ncorners == maxCorners )
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break;
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}
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}
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}
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else
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{
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for( i = 0; i < total; i++ )
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{
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cornersQuality.push_back(*tmpCorners[i]);
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int ofs = (int)((const uchar*)tmpCorners[i] - eig.data);
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int y = (int)(ofs / eig.step);
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int x = (int)((ofs - y*eig.step)/sizeof(float));
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corners.push_back(Point2f((float)x, (float)y));
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++ncorners;
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if( maxCorners > 0 && (int)ncorners == maxCorners )
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break;
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}
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}
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Mat(corners).convertTo(_corners, _corners.fixedType() ? _corners.type() : CV_32F);
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if (_cornersQuality.needed()) {
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Mat(cornersQuality).convertTo(_cornersQuality, _cornersQuality.fixedType() ? _cornersQuality.type() : CV_32F);
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}
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}
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/////////////////end of ref code//////////////////////////
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class CV_GoodFeatureToTTest : public cvtest::ArrayTest
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{
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public:
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CV_GoodFeatureToTTest();
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protected:
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int prepare_test_case( int test_case_idx );
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void run_func();
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int validate_test_results( int test_case_idx );
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Mat src, src_gray;
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Mat src_gray32f, src_gray8U;
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Mat mask;
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int maxCorners;
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vector<Point2f> corners;
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vector<Point2f> Refcorners;
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vector<float> cornersQuality;
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vector<float> RefcornersQuality;
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double qualityLevel;
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double minDistance;
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int blockSize;
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int gradientSize;
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bool useHarrisDetector;
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double k;
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int SrcType;
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};
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CV_GoodFeatureToTTest::CV_GoodFeatureToTTest()
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{
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RNG& rng = ts->get_rng();
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maxCorners = rng.uniform( 50, 100 );
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qualityLevel = 0.01;
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minDistance = 10;
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blockSize = 3;
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gradientSize = 3;
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useHarrisDetector = false;
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k = 0.04;
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mask = Mat();
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test_case_count = 4;
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SrcType = 0;
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}
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int CV_GoodFeatureToTTest::prepare_test_case( int test_case_idx )
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{
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const static int types[] = { CV_32FC1, CV_8UC1 };
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|
|
cvtest::TS& tst = *cvtest::TS::ptr();
|
||
|
|
src = imread(string(tst.get_data_path()) + "shared/fruits.png", IMREAD_COLOR);
|
||
|
|
|
||
|
|
CV_Assert(src.data != NULL);
|
||
|
|
|
||
|
|
cvtColor( src, src_gray, COLOR_BGR2GRAY );
|
||
|
|
SrcType = types[test_case_idx & 0x1];
|
||
|
|
useHarrisDetector = test_case_idx & 2 ? true : false;
|
||
|
|
return 1;
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
void CV_GoodFeatureToTTest::run_func()
|
||
|
|
{
|
||
|
|
int cn = src_gray.channels();
|
||
|
|
|
||
|
|
CV_Assert( cn == 1 );
|
||
|
|
CV_Assert( ( CV_MAT_DEPTH(SrcType) == CV_32FC1 ) || ( CV_MAT_DEPTH(SrcType) == CV_8UC1 ));
|
||
|
|
|
||
|
|
TEST_MESSAGEL (" maxCorners = ", maxCorners)
|
||
|
|
if (useHarrisDetector)
|
||
|
|
{
|
||
|
|
TEST_MESSAGE (" useHarrisDetector = true\n");
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
TEST_MESSAGE (" useHarrisDetector = false\n");
|
||
|
|
}
|
||
|
|
|
||
|
|
if( CV_MAT_DEPTH(SrcType) == CV_32FC1)
|
||
|
|
{
|
||
|
|
if (src_gray.depth() != CV_32FC1 ) src_gray.convertTo(src_gray32f, CV_32FC1);
|
||
|
|
else src_gray32f = src_gray.clone();
|
||
|
|
|
||
|
|
TEST_MESSAGE ("goodFeaturesToTrack 32f\n")
|
||
|
|
|
||
|
|
goodFeaturesToTrack( src_gray32f,
|
||
|
|
corners,
|
||
|
|
maxCorners,
|
||
|
|
qualityLevel,
|
||
|
|
minDistance,
|
||
|
|
Mat(),
|
||
|
|
cornersQuality,
|
||
|
|
blockSize,
|
||
|
|
gradientSize,
|
||
|
|
useHarrisDetector,
|
||
|
|
k );
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
if (src_gray.depth() != CV_8UC1 ) src_gray.convertTo(src_gray8U, CV_8UC1);
|
||
|
|
else src_gray8U = src_gray.clone();
|
||
|
|
|
||
|
|
TEST_MESSAGE ("goodFeaturesToTrack 8U\n")
|
||
|
|
|
||
|
|
goodFeaturesToTrack( src_gray8U,
|
||
|
|
corners,
|
||
|
|
maxCorners,
|
||
|
|
qualityLevel,
|
||
|
|
minDistance,
|
||
|
|
Mat(),
|
||
|
|
cornersQuality,
|
||
|
|
blockSize,
|
||
|
|
gradientSize,
|
||
|
|
useHarrisDetector,
|
||
|
|
k );
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
int CV_GoodFeatureToTTest::validate_test_results( int test_case_idx )
|
||
|
|
{
|
||
|
|
static const double eps = 2e-6;
|
||
|
|
|
||
|
|
if( CV_MAT_DEPTH(SrcType) == CV_32FC1 )
|
||
|
|
{
|
||
|
|
if (src_gray.depth() != CV_32FC1 ) src_gray.convertTo(src_gray32f, CV_32FC1);
|
||
|
|
else src_gray32f = src_gray.clone();
|
||
|
|
|
||
|
|
TEST_MESSAGE ("test_goodFeaturesToTrack 32f\n")
|
||
|
|
|
||
|
|
test_goodFeaturesToTrack( src_gray32f,
|
||
|
|
Refcorners,
|
||
|
|
maxCorners,
|
||
|
|
qualityLevel,
|
||
|
|
minDistance,
|
||
|
|
Mat(),
|
||
|
|
RefcornersQuality,
|
||
|
|
blockSize,
|
||
|
|
gradientSize,
|
||
|
|
useHarrisDetector,
|
||
|
|
k );
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
if (src_gray.depth() != CV_8UC1 ) src_gray.convertTo(src_gray8U, CV_8UC1);
|
||
|
|
else src_gray8U = src_gray.clone();
|
||
|
|
|
||
|
|
TEST_MESSAGE ("test_goodFeaturesToTrack 8U\n")
|
||
|
|
|
||
|
|
test_goodFeaturesToTrack( src_gray8U,
|
||
|
|
Refcorners,
|
||
|
|
maxCorners,
|
||
|
|
qualityLevel,
|
||
|
|
minDistance,
|
||
|
|
Mat(),
|
||
|
|
RefcornersQuality,
|
||
|
|
blockSize,
|
||
|
|
gradientSize,
|
||
|
|
useHarrisDetector,
|
||
|
|
k );
|
||
|
|
}
|
||
|
|
|
||
|
|
double e = cv::norm(corners, Refcorners); // TODO cvtest
|
||
|
|
|
||
|
|
if (e > eps)
|
||
|
|
{
|
||
|
|
TEST_MESSAGEL ("Number of features: Refcorners = ", Refcorners.size())
|
||
|
|
TEST_MESSAGEL (" TestCorners = ", corners.size())
|
||
|
|
TEST_MESSAGE ("\n")
|
||
|
|
|
||
|
|
EXPECT_LE(e, eps); // never true
|
||
|
|
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
|
||
|
|
|
||
|
|
for(int i = 0; i < (int)std::min((unsigned int)(corners.size()), (unsigned int)(Refcorners.size())); i++){
|
||
|
|
if ( (corners[i].x != Refcorners[i].x) || (corners[i].y != Refcorners[i].y))
|
||
|
|
printf("i = %i X %2.2f Xref %2.2f Y %2.2f Yref %2.2f\n",i,corners[i].x,Refcorners[i].x,corners[i].y,Refcorners[i].y);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
else
|
||
|
|
{
|
||
|
|
TEST_MESSAGEL (" Refcorners = ", Refcorners.size())
|
||
|
|
TEST_MESSAGEL (" TestCorners = ", corners.size())
|
||
|
|
TEST_MESSAGE ("\n")
|
||
|
|
|
||
|
|
ts->set_failed_test_info(cvtest::TS::OK);
|
||
|
|
}
|
||
|
|
|
||
|
|
e = cv::norm(cornersQuality, RefcornersQuality, NORM_RELATIVE | NORM_INF);
|
||
|
|
|
||
|
|
if (e > eps)
|
||
|
|
{
|
||
|
|
EXPECT_LE(e, eps); // never true
|
||
|
|
ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
|
||
|
|
|
||
|
|
for(int i = 0; i < (int)std::min((unsigned int)(cornersQuality.size()), (unsigned int)(cornersQuality.size())); i++) {
|
||
|
|
if (std::abs(cornersQuality[i] - RefcornersQuality[i]) > eps * std::max(cornersQuality[i], RefcornersQuality[i]))
|
||
|
|
printf("i = %i Quality %2.6f Quality ref %2.6f\n", i, cornersQuality[i], RefcornersQuality[i]);
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
return BaseTest::validate_test_results(test_case_idx);
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
TEST(Imgproc_GoodFeatureToT, accuracy) { CV_GoodFeatureToTTest test; test.safe_run(); }
|
||
|
|
|
||
|
|
|
||
|
|
}} // namespace
|
||
|
|
/* End of file. */
|