97 lines
3.5 KiB
C++
97 lines
3.5 KiB
C++
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#include "perf_precomp.hpp"
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#include "opencv2/imgcodecs.hpp"
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#include "opencv2/opencv_modules.hpp"
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namespace opencv_test
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{
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using namespace perf;
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typedef TestBaseWithParam<tuple<string, string> > bundleAdjuster;
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#ifdef HAVE_OPENCV_XFEATURES2D
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#define TEST_DETECTORS testing::Values("surf", "orb")
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#else
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#define TEST_DETECTORS testing::Values<string>("orb")
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#endif
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#define WORK_MEGAPIX 0.6
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#define AFFINE_FUNCTIONS testing::Values("affinePartial", "affine")
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PERF_TEST_P(bundleAdjuster, affine, testing::Combine(TEST_DETECTORS, AFFINE_FUNCTIONS))
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{
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Mat img1, img1_full = imread(getDataPath("stitching/s1.jpg"));
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Mat img2, img2_full = imread(getDataPath("stitching/s2.jpg"));
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float scale1 = (float)std::min(1.0, sqrt(WORK_MEGAPIX * 1e6 / img1_full.total()));
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float scale2 = (float)std::min(1.0, sqrt(WORK_MEGAPIX * 1e6 / img2_full.total()));
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resize(img1_full, img1, Size(), scale1, scale1, INTER_LINEAR_EXACT);
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resize(img2_full, img2, Size(), scale2, scale2, INTER_LINEAR_EXACT);
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string detector = get<0>(GetParam());
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string affine_fun = get<1>(GetParam());
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Ptr<Feature2D> finder = getFeatureFinder(detector);
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Ptr<detail::FeaturesMatcher> matcher;
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Ptr<detail::BundleAdjusterBase> bundle_adjuster;
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if (affine_fun == "affinePartial")
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{
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matcher = makePtr<detail::AffineBestOf2NearestMatcher>(false);
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bundle_adjuster = makePtr<detail::BundleAdjusterAffinePartial>();
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}
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else if (affine_fun == "affine")
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{
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matcher = makePtr<detail::AffineBestOf2NearestMatcher>(true);
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bundle_adjuster = makePtr<detail::BundleAdjusterAffine>();
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}
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Ptr<detail::Estimator> estimator = makePtr<detail::AffineBasedEstimator>();
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std::vector<Mat> images;
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images.push_back(img1), images.push_back(img2);
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std::vector<detail::ImageFeatures> features;
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std::vector<detail::MatchesInfo> pairwise_matches;
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std::vector<detail::CameraParams> cameras;
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std::vector<detail::CameraParams> cameras2;
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computeImageFeatures(finder, images, features);
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(*matcher)(features, pairwise_matches);
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if (!(*estimator)(features, pairwise_matches, cameras))
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FAIL() << "estimation failed. this should never happen.";
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// this is currently required
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for (size_t i = 0; i < cameras.size(); ++i)
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{
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Mat R;
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cameras[i].R.convertTo(R, CV_32F);
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cameras[i].R = R;
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}
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cameras2 = cameras;
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bool success = true;
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while(next())
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{
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cameras = cameras2; // revert cameras back to original initial guess
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startTimer();
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success = (*bundle_adjuster)(features, pairwise_matches, cameras);
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stopTimer();
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}
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EXPECT_TRUE(success);
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EXPECT_TRUE(cameras.size() == 2);
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// fist camera should be just identity
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Mat &first = cameras[0].R;
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SANITY_CHECK(first, 1e-3, ERROR_ABSOLUTE);
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// second camera should be the estimated transform between images
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// separate rotation and translation in transform matrix
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Mat T_second (cameras[1].R, Range(0, 2), Range(2, 3));
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Mat R_second (cameras[1].R, Range(0, 2), Range(0, 2));
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Mat h (cameras[1].R, Range(2, 3), Range::all());
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SANITY_CHECK(T_second, 5, ERROR_ABSOLUTE); // allow 5 pixels diff in translations
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SANITY_CHECK(R_second, .01, ERROR_ABSOLUTE); // rotations must be more precise
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// last row should be precisely (0, 0, 1) as it is just added for representation in homogeneous
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// coordinates
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EXPECT_TRUE(h.type() == CV_32F);
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EXPECT_FLOAT_EQ(h.at<float>(0), 0.f);
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EXPECT_FLOAT_EQ(h.at<float>(1), 0.f);
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EXPECT_FLOAT_EQ(h.at<float>(2), 1.f);
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}
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} // namespace
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