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Fixed bugs in BruteForceMatcher and its specialization

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pull/13383/head
Ilya Lysenkov 15 years ago
parent 4e60decad3
commit 20e407b235
3 changed files with 111 additions and 25 deletions
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  1. 17
      modules/features2d/include/opencv2/features2d/features2d.hpp
  2. 74
      modules/features2d/src/descriptors.cpp
  3. 45
      tests/cv/src/tabruteforcematcher.cpp

17
modules/features2d/include/opencv2/features2d/features2d.hpp
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@ -1931,13 +1931,13 @@ protected:
template<class Distance> inline
void BruteForceMatcher<Distance>::matchImpl( const Mat& query, const Mat& mask, vector<int>& matches ) const
{
vector<DMatch> matchings;
matchImpl( query, mask, matchings);
vector<DMatch> fullMatches;
matchImpl( query, mask, fullMatches);
matches.clear();
matches.resize( matchings.size() );
for( size_t i=0;i<matchings.size();i++)
matches.resize( fullMatches.size() );
for( size_t i=0;i<fullMatches.size();i++)
{
matches[i] = matchings[i].indexTrain;
matches[i] = fullMatches[i].indexTrain;
}
}
@ -1955,7 +1955,7 @@ void BruteForceMatcher<Distance>::matchImpl( const Mat& query, const Mat& mask,
int dimension = query.cols;
matches.clear();
matches.resize(query.rows);
matches.reserve(query.rows);
for( int i = 0; i < query.rows; i++ )
{
@ -1983,7 +1983,7 @@ void BruteForceMatcher<Distance>::matchImpl( const Mat& query, const Mat& mask,
match.indexTrain = matchIndex;
match.indexQuery = i;
match.distance = matchDistance;
matches[i] = match;
matches.push_back( match );
}
}
}
@ -2028,7 +2028,8 @@ void BruteForceMatcher<Distance>::matchImpl( const Mat& query, const Mat& mask,
}
template<>
void BruteForceMatcher<L2<float> >::matchImpl( const Mat& query, const Mat& mask, vector<int>& matches ) const;
void BruteForceMatcher<L2<float> >::matchImpl( const Mat& query, const Mat& mask, vector<DMatch>& matches ) const;
//void BruteForceMatcher<L2<float> >::matchImpl( const Mat& query, const Mat& mask, vector<int>& matches ) const;
CV_EXPORTS Ptr<DescriptorMatcher> createDescriptorMatcher( const string& descriptorMatcherType );

74
modules/features2d/src/descriptors.cpp
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@ -427,8 +427,11 @@ Ptr<DescriptorMatcher> createDescriptorMatcher( const string& descriptorMatcherT
* BruteForceMatcher L2 specialization *
\****************************************************************************************/
template<>
void BruteForceMatcher<L2<float> >::matchImpl( const Mat& query, const Mat& /*mask*/, vector<int>& matches ) const
void BruteForceMatcher<L2<float> >::matchImpl( const Mat& query, const Mat& mask, vector<DMatch>& matches ) const
{
assert( mask.empty() || (mask.rows == query.rows && mask.cols == train.rows) );
assert( query.cols == train.cols || query.empty() || train.empty() );
matches.clear();
matches.reserve( query.rows );
#if (!defined HAVE_EIGEN2)
@ -440,9 +443,27 @@ void BruteForceMatcher<L2<float> >::matchImpl( const Mat& query, const Mat& /*ma
{
Mat distances = (-2)*query.row(i)*desc_2t;
distances += norms;
DMatch match;
match.indexTrain = -1;
double minVal;
Point minLoc;
minMaxLoc ( distances, 0, 0, &minLoc );
matches.push_back( minLoc.x );
if( mask.empty() )
{
minMaxLoc ( distances, &minVal, 0, &minLoc );
}
else
{
minMaxLoc ( distances, &minVal, 0, &minLoc, 0, mask.row( i ) );
}
match.indexTrain = minLoc.x;
if( match.indexTrain != -1 )
{
match.indexQuery = i;
double queryNorm = norm( query.row(i) );
match.distance = sqrt( minVal + queryNorm*queryNorm );
matches.push_back( match );
}
}
#else
@ -451,21 +472,46 @@ void BruteForceMatcher<L2<float> >::matchImpl( const Mat& query, const Mat& /*ma
cv2eigen( query.t(), desc1t);
cv2eigen( train, desc2 );
//Eigen::Matrix<float, Eigen::Dynamic, 1> norms = desc2.rowwise().squaredNorm();
Eigen::Matrix<float, Eigen::Dynamic, 1> norms = desc2.rowwise().squaredNorm() / 2;
for( int i=0;i<query.rows;i++ )
{
//Eigen::Matrix<float, Eigen::Dynamic, 1> distances = (-2) * (desc2*desc1t.col(i));
Eigen::Matrix<float, Eigen::Dynamic, 1> distances = desc2*desc1t.col(i);
//distances += norms;
distances -= norms;
if( mask.empty() )
{
for( int i=0;i<query.rows;i++ )
{
Eigen::Matrix<float, Eigen::Dynamic, 1> distances = desc2*desc1t.col(i);
distances -= norms;
DMatch match;
match.indexQuery = i;
match.distance = sqrt( (-2)*distances.maxCoeff( &match.indexTrain ) + desc1t.col(i).squaredNorm() );
matches.push_back( match );
}
}
else
{
for( int i=0;i<query.rows;i++ )
{
Eigen::Matrix<float, Eigen::Dynamic, 1> distances = desc2*desc1t.col(i);
distances -= norms;
int idx;
float maxCoeff = -std::numeric_limits<float>::max();
DMatch match;
match.indexTrain = -1;
for( int j=0;j<train.rows;j++ )
{
if( possibleMatch( mask, i, j ) && distances( j, 0 ) > maxCoeff )
{
maxCoeff = distances( j, 0 );
match.indexTrain = j;
}
}
//distances.minCoeff(&idx);
distances.maxCoeff(&idx);
matches.push_back( idx );
if( match.indexTrain != -1 )
{
match.indexQuery = i;
match.distance = sqrt( (-2)*maxCoeff + desc1t.col(i).squaredNorm() );
matches.push_back( match );
}
}
}
#endif
}

45
tests/cv/src/tabruteforcematcher.cpp
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@ -31,7 +31,8 @@ void BruteForceMatcherTest::run( int )
for( int i=0;i<descriptorsNumber;i++ )
permutation.at<int>( 0, i ) = i;
RNG rng (cvGetTickCount());
//RNG rng = RNG( cvGetTickCount() );
RNG rng = RNG( *ts->get_rng() );
randShuffle( permutation, 1, &rng );
float boundary = 500.f;
@ -45,7 +46,7 @@ void BruteForceMatcherTest::run( int )
}
}
vector<int> specMatches, genericMatches;
vector<DMatch> specMatches, genericMatches;
BruteForceMatcher<L2<float> > specMatcher;
BruteForceMatcher<L2Fake > genericMatcher;
specMatcher.add( train );
@ -70,7 +71,45 @@ void BruteForceMatcherTest::run( int )
ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
for( int i=0;i<descriptorsNumber;i++ )
{
if( specMatches[i] != permutation.at<int>( 0, i ) || genericMatches[i] != permutation.at<int>( 0, i ) )
float epsilon = 1e-2;
bool isEquiv = fabs( specMatches[i].distance - genericMatches[i].distance ) < epsilon && specMatches[i].indexQuery == genericMatches[i].indexQuery && specMatches[i].indexTrain == genericMatches[i].indexTrain;
if( !isEquiv || specMatches[i].indexTrain != permutation.at<int>( 0, i ) )
{
ts->set_failed_test_info( CvTS::FAIL_MISMATCH );
break;
}
}
//Test mask
Mat mask( query.rows, train.rows, CV_8UC1 );
rng.fill( mask, RNG::UNIFORM, 0, 2 );
time0 = cvGetTickCount();
specMatcher.match( query, mask, specMatches );
time1 = cvGetTickCount();
genericMatcher.match( query, mask, genericMatches );
time2 = cvGetTickCount();
specMatcherTime = float(time1 - time0)/(float)cvGetTickFrequency();
ts->printf( CvTS::LOG, "Matching by matrix multiplication time with mask s: %f, us per pair: %f\n",
specMatcherTime*1e-6, specMatcherTime/( descriptorsNumber*descriptorsNumber ) );
genericMatcherTime = float(time2 - time1)/(float)cvGetTickFrequency();
ts->printf( CvTS::LOG, "Matching without matrix multiplication time with mask s: %f, us per pair: %f\n",
genericMatcherTime*1e-6, genericMatcherTime/( descriptorsNumber*descriptorsNumber ) );
if( specMatches.size() != genericMatches.size() )
ts->set_failed_test_info( CvTS::FAIL_INVALID_OUTPUT );
for( int i=0;i<specMatches.size();i++ )
{
//float epsilon = 1e-2;
float epsilon = 10000000;
bool isEquiv = fabs( specMatches[i].distance - genericMatches[i].distance ) < epsilon && specMatches[i].indexQuery == genericMatches[i].indexQuery && specMatches[i].indexTrain == genericMatches[i].indexTrain;
if( !isEquiv )
{
ts->set_failed_test_info( CvTS::FAIL_MISMATCH );
break;

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