added tests to check rotation invariance of detectors

modules/features2d/test/test_rotation_invariance.cpp

@@ -0,0 +1,254 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of Intel Corporation may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "test_precomp.hpp"
+#include "opencv2/highgui/highgui.hpp"
+
+using namespace std;
+using namespace cv;
+
+const string FEATURES2D_DIR = "features2d";
+const string IMAGE_FILENAME = "tsukuba.png";
+
+static
+Mat generateHomography(float angle)
+{
+    float angleRadian = angle * CV_PI / 180.;
+    Mat H = Mat::eye(3, 3, CV_32FC1);
+    H.at<float>(0,0) = H.at<float>(1,1) = std::cos(angleRadian);
+    H.at<float>(0,1) = -std::sin(angleRadian);
+    H.at<float>(1,0) =  std::sin(angleRadian);
+
+    return H;
+}
+
+static
+Mat rotateImage(const Mat& srcImage, float angle, Mat& dstImage, Mat& dstMask)
+{
+    int diag = std::sqrt(srcImage.cols * srcImage.cols + srcImage.rows * srcImage.rows);
+    Mat LUShift = Mat::eye(3, 3, CV_32FC1); // left up
+    LUShift.at<float>(0,2) = -srcImage.cols/2;
+    LUShift.at<float>(1,2) = -srcImage.rows/2;
+    Mat RDShift = Mat::eye(3, 3, CV_32FC1); // right down
+    RDShift.at<float>(0,2) = diag/2;
+    RDShift.at<float>(1,2) = diag/2;
+    Size sz(diag, diag);
+
+    Mat srcMask(srcImage.size(), CV_8UC1, Scalar(255));
+
+    Mat H = RDShift * generateHomography(angle) * LUShift;
+    warpPerspective(srcImage, dstImage, H, sz);
+    warpPerspective(srcMask, dstMask, H, sz);
+
+    return H;
+}
+
+static
+float calcIntersectArea(const Point2f& p0, float r0, const Point2f& p1, float r1)
+{
+    float c = norm(p0 - p1), sqr_c = c * c;
+
+    float sqr_r0 = r0 * r0;
+    float sqr_r1 = r1 * r1;
+
+    if(r0 + r1 <= c)
+       return 0;
+
+    float minR = std::min(r0, r1);
+    float maxR = std::max(r0, r1);
+    if(c + minR <= maxR)
+        return CV_PI * minR * minR;
+
+    float cos_halfA0 = (sqr_r0 + sqr_c - sqr_r1) / (2 * r0 * c);
+    float cos_halfA1 = (sqr_r1 + sqr_c - sqr_r0) / (2 * r1 * c);
+
+    float A0 = 2 * acos(cos_halfA0);
+    float A1 = 2 * acos(cos_halfA1);
+
+    return  0.5 * sqr_r0 * (A0 - sin(A0)) +
+            0.5 * sqr_r1 * (A1 - sin(A1));
+}
+
+static
+float calcIntersectRatio(const Point2f& p0, float r0, const Point2f& p1, float r1)
+{
+    float intersectArea = calcIntersectArea(p0, r0, p1, r1);
+    float unionArea = CV_PI * (r0 * r0 + r1 * r1) - intersectArea;
+    return intersectArea / unionArea;
+}
+
+class DetectorRotatationInvarianceTest : public cvtest::BaseTest
+{
+public:
+    DetectorRotatationInvarianceTest(const Ptr<FeatureDetector>& _featureDetector,
+                                     float _minInliersRatio,
+                                     float _minAngleInliersRatio) :
+        featureDetector(_featureDetector), minInliersRatio(_minInliersRatio), minAngleInliersRatio(_minAngleInliersRatio)
+    {
+        CV_Assert(!featureDetector.empty());
+    }
+
+protected:
+
+    void run(int)
+    {
+        const string imageFilename = string(ts->get_data_path()) + FEATURES2D_DIR + "/" + IMAGE_FILENAME;
+
+        // Read test data
+        Mat image0 = imread(imageFilename), image1, mask1;
+
+        if(image0.empty())
+        {
+            ts->printf(cvtest::TS::LOG, "Image %s can not be read.\n", imageFilename.c_str());
+            ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_TEST_DATA);
+            return;
+        }
+
+        vector<KeyPoint> keypoints0;
+        featureDetector->detect(image0, keypoints0);
+
+        CV_Assert(keypoints0.size() > 15);
+
+        const int maxAngle = 360, angleStep = 10;
+        for(int angle = 0; angle < maxAngle; angle += angleStep)
+        {
+            Mat H = rotateImage(image0, angle, image1, mask1);
+
+            vector<KeyPoint> keypoints1;
+            featureDetector->detect(image1, keypoints1, mask1);
+
+            vector<Point2f> points0;
+            KeyPoint::convert(keypoints0, points0);
+            Mat points0t;
+            perspectiveTransform(Mat(points0), points0t, H);
+
+            int inliersCount = 0;
+            int angleInliersCount = 0;
+
+            for(size_t m0 = 0; m0 < points0t.total(); m0++)
+            {
+                int nearestPointIndex = -1;
+                float maxIntersectRatio = 0.f;
+                const float r0 =  0.5f * keypoints0[m0].size;
+                for(size_t m1 = 0; m1 < keypoints1.size(); m1++)
+                {
+
+                    float r1 = 0.5f * keypoints1[m1].size;
+                    float intersectRatio = calcIntersectRatio(points0t.at<Point2f>(m0), r0,
+                                                              keypoints1[m1].pt, r1);
+                    if(intersectRatio > maxIntersectRatio)
+                    {
+                        maxIntersectRatio = intersectRatio;
+                        nearestPointIndex = m1;
+                    }
+                }
+
+                if(maxIntersectRatio > 0.5f)
+                {
+                    inliersCount++;
+
+                    const float maxAngleDiff = 3.f; // grad
+
+                    float angle0 = keypoints0[m0].angle;
+                    float angle1 = keypoints1[nearestPointIndex].angle;
+                    if(angle0 == -1 || angle1 == -1)
+                        CV_Error(CV_StsBadArg, "Given FeatureDetector is not rotation invariant, it can not be tested here.\n");
+                    CV_Assert(angle0 >= 0.f && angle0 < 360.f);
+                    CV_Assert(angle1 >= 0.f && angle1 < 360.f);
+
+                    float rotAngle0 = angle0 + angle;
+                    if(rotAngle0 >= 360.f)
+                        rotAngle0 -= 360.f;
+
+                    float angleDiff = std::max(rotAngle0, angle1) - std::min(rotAngle0, angle1);
+                    angleDiff = std::min(angleDiff, static_cast<float>(2. * CV_PI - angleDiff));
+                    bool isAngleCorrect = angleDiff < maxAngleDiff;
+
+                    if(isAngleCorrect)
+                        angleInliersCount++;
+                }
+            }
+
+            float inliersRatio = static_cast<float>(inliersCount) / keypoints0.size();
+            if(inliersRatio < minInliersRatio)
+            {
+                ts->printf(cvtest::TS::LOG, "Incorrect inliersRatio: curr = %f, min = %f.\n",
+                           inliersRatio, minInliersRatio);
+                ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
+                return;
+            }
+
+            if(inliersCount)
+            {
+                float angleInliersRatio = static_cast<float>(angleInliersCount) / inliersCount;
+                if(angleInliersRatio < minAngleInliersRatio)
+                {
+                    ts->printf(cvtest::TS::LOG, "Incorrect angleInliersRatio: curr = %f, min = %f.\n",
+                               angleInliersRatio, minAngleInliersRatio);
+                    ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
+                    return;
+                }
+            }
+
+//            std::cout << "inliersRatio - " << inliersRatio
+//                      << " - angleInliersRatio " << static_cast<float>(angleInliersCount) / inliersCount << std::endl;
+        }
+        ts->set_failed_test_info( cvtest::TS::OK );
+    }
+
+    Ptr<FeatureDetector> featureDetector;
+    float minInliersRatio;
+    float minAngleInliersRatio;
+};
+
+// Tests registration
+
+TEST(Features2d_RotationInvariance_Detector_MSER, regression)
+{
+    DetectorRotatationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.MSER"), 0.52f, 0.94f);
+    test.safe_run();
+}
+
+TEST(Features2d_RotationInvariance_Detector_ORB, regression)
+{
+    DetectorRotatationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.ORB"), 0.90, 0.95);
+    test.safe_run();
+}

modules/nonfree/test/test_rotation_invariance.cpp

@@ -0,0 +1,255 @@
+/*M///////////////////////////////////////////////////////////////////////////////////////
+//
+//  IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
+//
+//  By downloading, copying, installing or using the software you agree to this license.
+//  If you do not agree to this license, do not download, install,
+//  copy or use the software.
+//
+//
+//                        Intel License Agreement
+//                For Open Source Computer Vision Library
+//
+// Copyright (C) 2000, Intel Corporation, all rights reserved.
+// Third party copyrights are property of their respective owners.
+//
+// Redistribution and use in source and binary forms, with or without modification,
+// are permitted provided that the following conditions are met:
+//
+//   * Redistribution's of source code must retain the above copyright notice,
+//     this list of conditions and the following disclaimer.
+//
+//   * Redistribution's in binary form must reproduce the above copyright notice,
+//     this list of conditions and the following disclaimer in the documentation
+//     and/or other materials provided with the distribution.
+//
+//   * The name of Intel Corporation may not be used to endorse or promote products
+//     derived from this software without specific prior written permission.
+//
+// This software is provided by the copyright holders and contributors "as is" and
+// any express or implied warranties, including, but not limited to, the implied
+// warranties of merchantability and fitness for a particular purpose are disclaimed.
+// In no event shall the Intel Corporation or contributors be liable for any direct,
+// indirect, incidental, special, exemplary, or consequential damages
+// (including, but not limited to, procurement of substitute goods or services;
+// loss of use, data, or profits; or business interruption) however caused
+// and on any theory of liability, whether in contract, strict liability,
+// or tort (including negligence or otherwise) arising in any way out of
+// the use of this software, even if advised of the possibility of such damage.
+//
+//M*/
+
+#include "test_precomp.hpp"
+#include "opencv2/highgui/highgui.hpp"
+
+using namespace std;
+using namespace cv;
+
+const string FEATURES2D_DIR = "features2d";
+const string IMAGE_FILENAME = "tsukuba.png";
+
+static
+Mat generateHomography(float angle)
+{
+    float angleRadian = angle * CV_PI / 180.;
+    Mat H = Mat::eye(3, 3, CV_32FC1);
+    H.at<float>(0,0) = H.at<float>(1,1) = std::cos(angleRadian);
+    H.at<float>(0,1) = -std::sin(angleRadian);
+    H.at<float>(1,0) =  std::sin(angleRadian);
+
+    return H;
+}
+
+static
+Mat rotateImage(const Mat& srcImage, float angle, Mat& dstImage, Mat& dstMask)
+{
+    int diag = std::sqrt(srcImage.cols * srcImage.cols + srcImage.rows * srcImage.rows);
+    Mat LUShift = Mat::eye(3, 3, CV_32FC1); // left up
+    LUShift.at<float>(0,2) = -srcImage.cols/2;
+    LUShift.at<float>(1,2) = -srcImage.rows/2;
+    Mat RDShift = Mat::eye(3, 3, CV_32FC1); // right down
+    RDShift.at<float>(0,2) = diag/2;
+    RDShift.at<float>(1,2) = diag/2;
+    Size sz(diag, diag);
+
+    Mat srcMask(srcImage.size(), CV_8UC1, Scalar(255));
+
+    Mat H = RDShift * generateHomography(angle) * LUShift;
+    warpPerspective(srcImage, dstImage, H, sz);
+    warpPerspective(srcMask, dstMask, H, sz);
+
+    return H;
+}
+
+static
+float calcIntersectArea(const Point2f& p0, float r0, const Point2f& p1, float r1)
+{
+    float c = norm(p0 - p1), sqr_c = c * c;
+
+    float sqr_r0 = r0 * r0;
+    float sqr_r1 = r1 * r1;
+
+    if(r0 + r1 <= c)
+       return 0;
+
+    float minR = std::min(r0, r1);
+    float maxR = std::max(r0, r1);
+    if(c + minR <= maxR)
+        return CV_PI * minR * minR;
+
+    float cos_halfA0 = (sqr_r0 + sqr_c - sqr_r1) / (2 * r0 * c);
+    float cos_halfA1 = (sqr_r1 + sqr_c - sqr_r0) / (2 * r1 * c);
+
+    float A0 = 2 * acos(cos_halfA0);
+    float A1 = 2 * acos(cos_halfA1);
+
+    return  0.5 * sqr_r0 * (A0 - sin(A0)) +
+            0.5 * sqr_r1 * (A1 - sin(A1));
+}
+
+static
+float calcIntersectRatio(const Point2f& p0, float r0, const Point2f& p1, float r1)
+{
+    float intersectArea = calcIntersectArea(p0, r0, p1, r1);
+    float unionArea = CV_PI * (r0 * r0 + r1 * r1) - intersectArea;
+    return intersectArea / unionArea;
+}
+
+class DetectorRotatationInvarianceTest : public cvtest::BaseTest
+{
+public:
+    DetectorRotatationInvarianceTest(const Ptr<FeatureDetector>& _featureDetector,
+                                     float _minInliersRatio,
+                                     float _minAngleInliersRatio) :
+        featureDetector(_featureDetector), minInliersRatio(_minInliersRatio), minAngleInliersRatio(_minAngleInliersRatio)
+    {
+        CV_Assert(!featureDetector.empty());
+    }
+
+protected:
+
+    void run(int)
+    {
+        const string imageFilename = string(ts->get_data_path()) + FEATURES2D_DIR + "/" + IMAGE_FILENAME;
+
+        // Read test data
+        Mat image0 = imread(imageFilename), image1, mask1;
+
+        if(image0.empty())
+        {
+            ts->printf(cvtest::TS::LOG, "Image %s can not be read.\n", imageFilename.c_str());
+            ts->set_failed_test_info(cvtest::TS::FAIL_INVALID_TEST_DATA);
+            return;
+        }
+
+        vector<KeyPoint> keypoints0;
+        featureDetector->detect(image0, keypoints0);
+
+        CV_Assert(keypoints0.size() > 15);
+
+        const int maxAngle = 360, angleStep = 10;
+        for(int angle = 0; angle < maxAngle; angle += angleStep)
+        {
+            Mat H = rotateImage(image0, angle, image1, mask1);
+
+            vector<KeyPoint> keypoints1;
+            featureDetector->detect(image1, keypoints1, mask1);
+
+            vector<Point2f> points0;
+            KeyPoint::convert(keypoints0, points0);
+            Mat points0t;
+            perspectiveTransform(Mat(points0), points0t, H);
+
+            int inliersCount = 0;
+            int angleInliersCount = 0;
+
+            for(size_t m0 = 0; m0 < points0t.total(); m0++)
+            {
+                int nearestPointIndex = -1;
+                float maxIntersectRatio = 0.f;
+                const float r0 =  0.5f * keypoints0[m0].size;
+                for(size_t m1 = 0; m1 < keypoints1.size(); m1++)
+                {
+
+                    float r1 = 0.5f * keypoints1[m1].size;
+                    float intersectRatio = calcIntersectRatio(points0t.at<Point2f>(m0), r0,
+                                                              keypoints1[m1].pt, r1);
+                    if(intersectRatio > maxIntersectRatio)
+                    {
+                        maxIntersectRatio = intersectRatio;
+                        nearestPointIndex = m1;
+                    }
+                }
+
+                if(maxIntersectRatio > 0.5f)
+                {
+                    inliersCount++;
+
+                    const float maxAngleDiff = 3.f; // grad
+
+                    float angle0 = keypoints0[m0].angle;
+                    float angle1 = keypoints1[nearestPointIndex].angle;
+                    if(angle0 == -1 || angle1 == -1)
+                        CV_Error(CV_StsBadArg, "Given FeatureDetector is not rotation invariant, it can not be tested here.\n");
+                    CV_Assert(angle0 >= 0.f && angle0 < 360.f);
+                    CV_Assert(angle1 >= 0.f && angle1 < 360.f);
+
+                    float rotAngle0 = angle0 + angle;
+                    if(rotAngle0 >= 360.f)
+                        rotAngle0 -= 360.f;
+
+                    float angleDiff = std::max(rotAngle0, angle1) - std::min(rotAngle0, angle1);
+                    angleDiff = std::min(angleDiff, static_cast<float>(2. * CV_PI - angleDiff));
+                    bool isAngleCorrect = angleDiff < maxAngleDiff;
+
+                    if(isAngleCorrect)
+                        angleInliersCount++;
+                }
+            }
+
+            float inliersRatio = static_cast<float>(inliersCount) / keypoints0.size();
+            if(inliersRatio < minInliersRatio)
+            {
+                ts->printf(cvtest::TS::LOG, "Incorrect inliersRatio: curr = %f, min = %f.\n",
+                           inliersRatio, minInliersRatio);
+                ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
+                return;
+            }
+
+            if(inliersCount)
+            {
+                float angleInliersRatio = static_cast<float>(angleInliersCount) / inliersCount;
+                if(angleInliersRatio < minAngleInliersRatio)
+                {
+                    ts->printf(cvtest::TS::LOG, "Incorrect angleInliersRatio: curr = %f, min = %f.\n",
+                               angleInliersRatio, minAngleInliersRatio);
+                    ts->set_failed_test_info(cvtest::TS::FAIL_BAD_ACCURACY);
+                    return;
+                }
+            }
+
+//            std::cout << "inliersRatio - " << inliersRatio
+//                      << " - angleInliersRatio " << static_cast<float>(angleInliersCount) / inliersCount << std::endl;
+        }
+        ts->set_failed_test_info( cvtest::TS::OK );
+    }
+
+    Ptr<FeatureDetector> featureDetector;
+    float minInliersRatio;
+    float minAngleInliersRatio;
+};
+
+// Tests registration
+
+TEST(Features2d_RotationInvariance_Detector_SURF, regression)
+{
+    DetectorRotatationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SURF"), 0.60f, 0.94f);
+    test.safe_run();
+}
+
+TEST(Features2d_RotationInvariance_Detector_SIFT, regression)
+{
+    DetectorRotatationInvarianceTest test(Algorithm::create<FeatureDetector>("Feature2D.SIFT"), 0.76f, 0.99f);
+    test.safe_run();
+}
+