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41
42#include "test_precomp.hpp"
43#include "opencv2/highgui.hpp"
44
45using namespace std;
46using namespace cv;
47
48const string FEATURES2D_DIR = "features2d";
49const string IMAGE_FILENAME = "tsukuba.png";
50
51/****************************************************************************************\
52*                       Algorithmic tests for descriptor matchers                        *
53\****************************************************************************************/
54class CV_DescriptorMatcherTest : public cvtest::BaseTest
55{
56public:
57    CV_DescriptorMatcherTest( const string& _name, const Ptr<DescriptorMatcher>& _dmatcher, float _badPart ) :
58        badPart(_badPart), name(_name), dmatcher(_dmatcher)
59        {}
60protected:
61    static const int dim = 500;
62    static const int queryDescCount = 300; // must be even number because we split train data in some cases in two
63    static const int countFactor = 4; // do not change it
64    const float badPart;
65
66    virtual void run( int );
67    void generateData( Mat& query, Mat& train );
68
69    void emptyDataTest();
70    void matchTest( const Mat& query, const Mat& train );
71    void knnMatchTest( const Mat& query, const Mat& train );
72    void radiusMatchTest( const Mat& query, const Mat& train );
73
74    string name;
75    Ptr<DescriptorMatcher> dmatcher;
76
77private:
78    CV_DescriptorMatcherTest& operator=(const CV_DescriptorMatcherTest&) { return *this; }
79};
80
81void CV_DescriptorMatcherTest::emptyDataTest()
82{
83    assert( !dmatcher.empty() );
84    Mat queryDescriptors, trainDescriptors, mask;
85    vector<Mat> trainDescriptorCollection, masks;
86    vector<DMatch> matches;
87    vector<vector<DMatch> > vmatches;
88
89    try
90    {
91        dmatcher->match( queryDescriptors, trainDescriptors, matches, mask );
92    }
93    catch(...)
94    {
95        ts->printf( cvtest::TS::LOG, "match() on empty descriptors must not generate exception (1).\n" );
96        ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
97    }
98
99    try
100    {
101        dmatcher->knnMatch( queryDescriptors, trainDescriptors, vmatches, 2, mask );
102    }
103    catch(...)
104    {
105        ts->printf( cvtest::TS::LOG, "knnMatch() on empty descriptors must not generate exception (1).\n" );
106        ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
107    }
108
109    try
110    {
111        dmatcher->radiusMatch( queryDescriptors, trainDescriptors, vmatches, 10.f, mask );
112    }
113    catch(...)
114    {
115        ts->printf( cvtest::TS::LOG, "radiusMatch() on empty descriptors must not generate exception (1).\n" );
116        ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
117    }
118
119    try
120    {
121        dmatcher->add( trainDescriptorCollection );
122    }
123    catch(...)
124    {
125        ts->printf( cvtest::TS::LOG, "add() on empty descriptors must not generate exception.\n" );
126        ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
127    }
128
129    try
130    {
131        dmatcher->match( queryDescriptors, matches, masks );
132    }
133    catch(...)
134    {
135        ts->printf( cvtest::TS::LOG, "match() on empty descriptors must not generate exception (2).\n" );
136        ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
137    }
138
139    try
140    {
141        dmatcher->knnMatch( queryDescriptors, vmatches, 2, masks );
142    }
143    catch(...)
144    {
145        ts->printf( cvtest::TS::LOG, "knnMatch() on empty descriptors must not generate exception (2).\n" );
146        ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
147    }
148
149    try
150    {
151        dmatcher->radiusMatch( queryDescriptors, vmatches, 10.f, masks );
152    }
153    catch(...)
154    {
155        ts->printf( cvtest::TS::LOG, "radiusMatch() on empty descriptors must not generate exception (2).\n" );
156        ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
157    }
158
159}
160
161void CV_DescriptorMatcherTest::generateData( Mat& query, Mat& train )
162{
163    RNG& rng = theRNG();
164
165    // Generate query descriptors randomly.
166    // Descriptor vector elements are integer values.
167    Mat buf( queryDescCount, dim, CV_32SC1 );
168    rng.fill( buf, RNG::UNIFORM, Scalar::all(0), Scalar(3) );
169    buf.convertTo( query, CV_32FC1 );
170
171    // Generate train decriptors as follows:
172    // copy each query descriptor to train set countFactor times
173    // and perturb some one element of the copied descriptors in
174    // in ascending order. General boundaries of the perturbation
175    // are (0.f, 1.f).
176    train.create( query.rows*countFactor, query.cols, CV_32FC1 );
177    float step = 1.f / countFactor;
178    for( int qIdx = 0; qIdx < query.rows; qIdx++ )
179    {
180        Mat queryDescriptor = query.row(qIdx);
181        for( int c = 0; c < countFactor; c++ )
182        {
183            int tIdx = qIdx * countFactor + c;
184            Mat trainDescriptor = train.row(tIdx);
185            queryDescriptor.copyTo( trainDescriptor );
186            int elem = rng(dim);
187            float diff = rng.uniform( step*c, step*(c+1) );
188            trainDescriptor.at<float>(0, elem) += diff;
189        }
190    }
191}
192
193void CV_DescriptorMatcherTest::matchTest( const Mat& query, const Mat& train )
194{
195    dmatcher->clear();
196
197    // test const version of match()
198    {
199        vector<DMatch> matches;
200        dmatcher->match( query, train, matches );
201
202        if( (int)matches.size() != queryDescCount )
203        {
204            ts->printf(cvtest::TS::LOG, "Incorrect matches count while test match() function (1).\n");
205            ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
206        }
207        else
208        {
209            int badCount = 0;
210            for( size_t i = 0; i < matches.size(); i++ )
211            {
212                DMatch& match = matches[i];
213                if( (match.queryIdx != (int)i) || (match.trainIdx != (int)i*countFactor) || (match.imgIdx != 0) )
214                    badCount++;
215            }
216            if( (float)badCount > (float)queryDescCount*badPart )
217            {
218                ts->printf( cvtest::TS::LOG, "%f - too large bad matches part while test match() function (1).\n",
219                            (float)badCount/(float)queryDescCount );
220                ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
221            }
222        }
223    }
224
225    // test const version of match() for the same query and test descriptors
226    {
227        vector<DMatch> matches;
228        dmatcher->match( query, query, matches );
229
230        if( (int)matches.size() != query.rows )
231        {
232            ts->printf(cvtest::TS::LOG, "Incorrect matches count while test match() function for the same query and test descriptors (1).\n");
233            ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
234        }
235        else
236        {
237            for( size_t i = 0; i < matches.size(); i++ )
238            {
239                DMatch& match = matches[i];
240                //std::cout << match.distance << std::endl;
241
242                if( match.queryIdx != (int)i || match.trainIdx != (int)i || std::abs(match.distance) > FLT_EPSILON )
243                {
244                    ts->printf( cvtest::TS::LOG, "Bad match (i=%d, queryIdx=%d, trainIdx=%d, distance=%f) while test match() function for the same query and test descriptors (1).\n",
245                                i, match.queryIdx, match.trainIdx, match.distance );
246                    ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
247                }
248            }
249        }
250    }
251
252    // test version of match() with add()
253    {
254        vector<DMatch> matches;
255        // make add() twice to test such case
256        dmatcher->add( vector<Mat>(1,train.rowRange(0, train.rows/2)) );
257        dmatcher->add( vector<Mat>(1,train.rowRange(train.rows/2, train.rows)) );
258        // prepare masks (make first nearest match illegal)
259        vector<Mat> masks(2);
260        for(int mi = 0; mi < 2; mi++ )
261        {
262            masks[mi] = Mat(query.rows, train.rows/2, CV_8UC1, Scalar::all(1));
263            for( int di = 0; di < queryDescCount/2; di++ )
264                masks[mi].col(di*countFactor).setTo(Scalar::all(0));
265        }
266
267        dmatcher->match( query, matches, masks );
268
269        if( (int)matches.size() != queryDescCount )
270        {
271            ts->printf(cvtest::TS::LOG, "Incorrect matches count while test match() function (2).\n");
272            ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
273        }
274        else
275        {
276            int badCount = 0;
277            for( size_t i = 0; i < matches.size(); i++ )
278            {
279                DMatch& match = matches[i];
280                int shift = dmatcher->isMaskSupported() ? 1 : 0;
281                {
282                    if( i < queryDescCount/2 )
283                    {
284                        if( (match.queryIdx != (int)i) || (match.trainIdx != (int)i*countFactor + shift) || (match.imgIdx != 0) )
285                            badCount++;
286                    }
287                    else
288                    {
289                        if( (match.queryIdx != (int)i) || (match.trainIdx != ((int)i-queryDescCount/2)*countFactor + shift) || (match.imgIdx != 1) )
290                            badCount++;
291                    }
292                }
293            }
294            if( (float)badCount > (float)queryDescCount*badPart )
295            {
296                ts->printf( cvtest::TS::LOG, "%f - too large bad matches part while test match() function (2).\n",
297                            (float)badCount/(float)queryDescCount );
298                ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
299            }
300        }
301    }
302}
303
304void CV_DescriptorMatcherTest::knnMatchTest( const Mat& query, const Mat& train )
305{
306    dmatcher->clear();
307
308    // test const version of knnMatch()
309    {
310        const int knn = 3;
311
312        vector<vector<DMatch> > matches;
313        dmatcher->knnMatch( query, train, matches, knn );
314
315        if( (int)matches.size() != queryDescCount )
316        {
317            ts->printf(cvtest::TS::LOG, "Incorrect matches count while test knnMatch() function (1).\n");
318            ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
319        }
320        else
321        {
322            int badCount = 0;
323            for( size_t i = 0; i < matches.size(); i++ )
324            {
325                if( (int)matches[i].size() != knn )
326                    badCount++;
327                else
328                {
329                    int localBadCount = 0;
330                    for( int k = 0; k < knn; k++ )
331                    {
332                        DMatch& match = matches[i][k];
333                        if( (match.queryIdx != (int)i) || (match.trainIdx != (int)i*countFactor+k) || (match.imgIdx != 0) )
334                            localBadCount++;
335                    }
336                    badCount += localBadCount > 0 ? 1 : 0;
337                }
338            }
339            if( (float)badCount > (float)queryDescCount*badPart )
340            {
341                ts->printf( cvtest::TS::LOG, "%f - too large bad matches part while test knnMatch() function (1).\n",
342                            (float)badCount/(float)queryDescCount );
343                ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
344            }
345        }
346    }
347
348    // test version of knnMatch() with add()
349    {
350        const int knn = 2;
351        vector<vector<DMatch> > matches;
352        // make add() twice to test such case
353        dmatcher->add( vector<Mat>(1,train.rowRange(0, train.rows/2)) );
354        dmatcher->add( vector<Mat>(1,train.rowRange(train.rows/2, train.rows)) );
355        // prepare masks (make first nearest match illegal)
356        vector<Mat> masks(2);
357        for(int mi = 0; mi < 2; mi++ )
358        {
359            masks[mi] = Mat(query.rows, train.rows/2, CV_8UC1, Scalar::all(1));
360            for( int di = 0; di < queryDescCount/2; di++ )
361                masks[mi].col(di*countFactor).setTo(Scalar::all(0));
362        }
363
364        dmatcher->knnMatch( query, matches, knn, masks );
365
366        if( (int)matches.size() != queryDescCount )
367        {
368            ts->printf(cvtest::TS::LOG, "Incorrect matches count while test knnMatch() function (2).\n");
369            ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
370        }
371        else
372        {
373            int badCount = 0;
374            int shift = dmatcher->isMaskSupported() ? 1 : 0;
375            for( size_t i = 0; i < matches.size(); i++ )
376            {
377                if( (int)matches[i].size() != knn )
378                    badCount++;
379                else
380                {
381                    int localBadCount = 0;
382                    for( int k = 0; k < knn; k++ )
383                    {
384                        DMatch& match = matches[i][k];
385                        {
386                            if( i < queryDescCount/2 )
387                            {
388                                if( (match.queryIdx != (int)i) || (match.trainIdx != (int)i*countFactor + k + shift) ||
389                                    (match.imgIdx != 0) )
390                                    localBadCount++;
391                            }
392                            else
393                            {
394                                if( (match.queryIdx != (int)i) || (match.trainIdx != ((int)i-queryDescCount/2)*countFactor + k + shift) ||
395                                    (match.imgIdx != 1) )
396                                    localBadCount++;
397                            }
398                        }
399                    }
400                    badCount += localBadCount > 0 ? 1 : 0;
401                }
402            }
403            if( (float)badCount > (float)queryDescCount*badPart )
404            {
405                ts->printf( cvtest::TS::LOG, "%f - too large bad matches part while test knnMatch() function (2).\n",
406                            (float)badCount/(float)queryDescCount );
407                ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
408            }
409        }
410    }
411}
412
413void CV_DescriptorMatcherTest::radiusMatchTest( const Mat& query, const Mat& train )
414{
415    dmatcher->clear();
416    // test const version of match()
417    {
418        const float radius = 1.f/countFactor;
419        vector<vector<DMatch> > matches;
420        dmatcher->radiusMatch( query, train, matches, radius );
421
422        if( (int)matches.size() != queryDescCount )
423        {
424            ts->printf(cvtest::TS::LOG, "Incorrect matches count while test radiusMatch() function (1).\n");
425            ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
426        }
427        else
428        {
429            int badCount = 0;
430            for( size_t i = 0; i < matches.size(); i++ )
431            {
432                if( (int)matches[i].size() != 1 )
433                    badCount++;
434                else
435                {
436                    DMatch& match = matches[i][0];
437                    if( (match.queryIdx != (int)i) || (match.trainIdx != (int)i*countFactor) || (match.imgIdx != 0) )
438                        badCount++;
439                }
440            }
441            if( (float)badCount > (float)queryDescCount*badPart )
442            {
443                ts->printf( cvtest::TS::LOG, "%f - too large bad matches part while test radiusMatch() function (1).\n",
444                            (float)badCount/(float)queryDescCount );
445                ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
446            }
447        }
448    }
449
450    // test version of match() with add()
451    {
452        int n = 3;
453        const float radius = 1.f/countFactor * n;
454        vector<vector<DMatch> > matches;
455        // make add() twice to test such case
456        dmatcher->add( vector<Mat>(1,train.rowRange(0, train.rows/2)) );
457        dmatcher->add( vector<Mat>(1,train.rowRange(train.rows/2, train.rows)) );
458        // prepare masks (make first nearest match illegal)
459        vector<Mat> masks(2);
460        for(int mi = 0; mi < 2; mi++ )
461        {
462            masks[mi] = Mat(query.rows, train.rows/2, CV_8UC1, Scalar::all(1));
463            for( int di = 0; di < queryDescCount/2; di++ )
464                masks[mi].col(di*countFactor).setTo(Scalar::all(0));
465        }
466
467        dmatcher->radiusMatch( query, matches, radius, masks );
468
469        //int curRes = cvtest::TS::OK;
470        if( (int)matches.size() != queryDescCount )
471        {
472            ts->printf(cvtest::TS::LOG, "Incorrect matches count while test radiusMatch() function (1).\n");
473            ts->set_failed_test_info( cvtest::TS::FAIL_INVALID_OUTPUT );
474        }
475
476        int badCount = 0;
477        int shift = dmatcher->isMaskSupported() ? 1 : 0;
478        int needMatchCount = dmatcher->isMaskSupported() ? n-1 : n;
479        for( size_t i = 0; i < matches.size(); i++ )
480        {
481            if( (int)matches[i].size() != needMatchCount )
482                badCount++;
483            else
484            {
485                int localBadCount = 0;
486                for( int k = 0; k < needMatchCount; k++ )
487                {
488                    DMatch& match = matches[i][k];
489                    {
490                        if( i < queryDescCount/2 )
491                        {
492                            if( (match.queryIdx != (int)i) || (match.trainIdx != (int)i*countFactor + k + shift) ||
493                                (match.imgIdx != 0) )
494                                localBadCount++;
495                        }
496                        else
497                        {
498                            if( (match.queryIdx != (int)i) || (match.trainIdx != ((int)i-queryDescCount/2)*countFactor + k + shift) ||
499                                (match.imgIdx != 1) )
500                                localBadCount++;
501                        }
502                    }
503                }
504                badCount += localBadCount > 0 ? 1 : 0;
505            }
506        }
507        if( (float)badCount > (float)queryDescCount*badPart )
508        {
509            //curRes = cvtest::TS::FAIL_INVALID_OUTPUT;
510            ts->printf( cvtest::TS::LOG, "%f - too large bad matches part while test radiusMatch() function (2).\n",
511                        (float)badCount/(float)queryDescCount );
512            ts->set_failed_test_info( cvtest::TS::FAIL_BAD_ACCURACY );
513        }
514    }
515}
516
517void CV_DescriptorMatcherTest::run( int )
518{
519    Mat query, train;
520    generateData( query, train );
521
522    matchTest( query, train );
523
524    knnMatchTest( query, train );
525
526    radiusMatchTest( query, train );
527}
528
529/****************************************************************************************\
530*                                Tests registrations                                     *
531\****************************************************************************************/
532
533TEST( Features2d_DescriptorMatcher_BruteForce, regression )
534{
535    CV_DescriptorMatcherTest test( "descriptor-matcher-brute-force",
536                                  DescriptorMatcher::create("BruteForce"), 0.01f );
537    test.safe_run();
538}
539
540TEST( Features2d_DescriptorMatcher_FlannBased, regression )
541{
542    CV_DescriptorMatcherTest test( "descriptor-matcher-flann-based",
543                                  DescriptorMatcher::create("FlannBased"), 0.04f );
544    test.safe_run();
545}
546
547TEST( Features2d_DMatch, read_write )
548{
549    FileStorage fs(".xml", FileStorage::WRITE + FileStorage::MEMORY);
550    vector<DMatch> matches;
551    matches.push_back(DMatch(1,2,3,4.5f));
552    fs << "Match" << matches;
553    String str = fs.releaseAndGetString();
554    ASSERT_NE( strstr(str.c_str(), "4.5"), (char*)0 );
555}
556