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Fix test for orb_extractor #569

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Feb 25, 2024
Merged

Fix test for orb_extractor #569

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44 changes: 22 additions & 22 deletions test/stella_vslam/feature/orb_extractor.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@ TEST(orb_extractor, extract_toy_sample_1) {
auto img = cv::Mat(600, 600, CV_8UC1);
img = 255;
cv::rectangle(img, cv::Point2i(300, 300), cv::Point2i(600, 600), cv::Scalar(0), -1, cv::LINE_AA);
// mask (無効)
// mask (disabled)
const auto mask = cv::Mat();

std::vector<cv::KeyPoint> keypts;
Expand All @@ -42,7 +42,7 @@ TEST(orb_extractor, extract_toy_sample_1) {
EXPECT_EQ(keypts.size(), desc.rows);
EXPECT_EQ(desc.type(), CV_8U);

// スケールを考慮して誤差を測定
// evaluate error with scale
for (const auto& keypt : keypts) {
EXPECT_NEAR(keypt.pt.x, 300, 2.0 * params.scale_factors_.at(keypt.octave));
EXPECT_NEAR(keypt.pt.y, 300, 2.0 * params.scale_factors_.at(keypt.octave));
Expand All @@ -57,7 +57,7 @@ TEST(orb_extractor, extract_toy_sample_2) {
auto img = cv::Mat(2000, 2000, CV_8UC1);
img = 255;
cv::rectangle(img, cv::Point2i(0, 0), cv::Point2i(1800, 1800), cv::Scalar(0), -1, cv::LINE_AA);
// mask (無効)
// mask (disabled)
const auto mask = cv::Mat();

std::vector<cv::KeyPoint> keypts;
Expand All @@ -69,7 +69,7 @@ TEST(orb_extractor, extract_toy_sample_2) {
EXPECT_EQ(keypts.size(), desc.rows);
EXPECT_EQ(desc.type(), CV_8U);

// スケールを考慮して誤差を測定
// evaluate error with scale
for (const auto& keypt : keypts) {
EXPECT_NEAR(keypt.pt.x, 1800, 2.0 * params.scale_factors_.at(keypt.octave));
EXPECT_NEAR(keypt.pt.y, 1800, 2.0 * params.scale_factors_.at(keypt.octave));
Expand All @@ -82,7 +82,7 @@ TEST(orb_extractor, extract_without_mask_1) {

// image
const auto img = cv::imread(std::string(TEST_DATA_DIR) + "./equirectangular_image_001.jpg", cv::IMREAD_GRAYSCALE);
// mask (無効)
// mask (disabled)
const auto mask = cv::Mat();

std::vector<cv::KeyPoint> keypts;
Expand All @@ -101,7 +101,7 @@ TEST(orb_extractor, extract_without_mask_2) {

// image
const auto img = cv::imread(std::string(TEST_DATA_DIR) + "./equirectangular_image_002.jpg", cv::IMREAD_GRAYSCALE);
// mask (無効)
// mask (disabled)
const auto mask = cv::Mat();

std::vector<cv::KeyPoint> keypts;
Expand All @@ -120,7 +120,7 @@ TEST(orb_extractor, extract_with_image_mask_1) {

// image
const auto img = cv::imread(std::string(TEST_DATA_DIR) + "./equirectangular_image_001.jpg", cv::IMREAD_GRAYSCALE);
// mask (上下25%をマスク)
// mask (Mask 25% of top and bottom)
auto mask = cv::Mat(img.rows, img.cols, CV_8UC1);
mask = 1;
mask.rowRange(0, img.rows / 4) = 0;
Expand All @@ -135,7 +135,7 @@ TEST(orb_extractor, extract_with_image_mask_1) {
EXPECT_EQ(keypts.size(), desc.rows);
EXPECT_EQ(desc.type(), CV_8U);

// mask内に特徴点が存在しないことを確認
// Verify that no feature points exist in the mask
for (const auto& keypt : keypts) {
EXPECT_GE(keypt.pt.y, img.rows / 4);
EXPECT_LE(keypt.pt.y, 3 * img.rows / 4);
Expand All @@ -157,7 +157,7 @@ TEST(orb_extractor, extract_with_image_mask_2) {

// image
const auto img = cv::imread(std::string(TEST_DATA_DIR) + "./equirectangular_image_002.jpg", cv::IMREAD_GRAYSCALE);
// mask (左右25%をマスク)
// mask (Mask 25% of left and right)
auto mask = cv::Mat(img.rows, img.cols, CV_8UC1);
mask = 1;
mask.colRange(0, img.cols / 4) = 0;
Expand All @@ -172,7 +172,7 @@ TEST(orb_extractor, extract_with_image_mask_2) {
EXPECT_EQ(keypts.size(), desc.rows);
EXPECT_EQ(desc.type(), CV_8U);

// mask内に特徴点が存在しないことを確認
// Verify that no feature points exist in the mask
for (const auto& keypt : keypts) {
EXPECT_GE(keypt.pt.x, img.cols / 4);
EXPECT_LE(keypt.pt.x, 3 * img.cols / 4);
Expand All @@ -194,7 +194,7 @@ TEST(orb_extractor, extract_with_image_mask_3) {

// image
const auto img = cv::imread(std::string(TEST_DATA_DIR) + "./equirectangular_image_001.jpg", cv::IMREAD_GRAYSCALE);
// mask (画像中央に半径320pixのマスク)
// mask (Mask with 320 pixel radius in the center of the image)
const unsigned int radius = 320;
auto mask = cv::Mat(img.rows, img.cols, CV_8UC1);
mask = 1;
Expand All @@ -209,7 +209,7 @@ TEST(orb_extractor, extract_with_image_mask_3) {
EXPECT_EQ(keypts.size(), desc.rows);
EXPECT_EQ(desc.type(), CV_8U);

// mask内に特徴点が存在しないことを確認
// Verify that no feature points exist in the mask
for (const auto& keypt : keypts) {
const auto dist_x = keypt.pt.x - img.cols / 2;
const auto dist_y = keypt.pt.y - img.rows / 2;
Expand All @@ -230,7 +230,7 @@ TEST(orb_extractor, extract_with_image_mask_3) {

TEST(orb_extractor, extract_with_rectangle_mask_1) {
auto params = feature::orb_params("ORB setting for test");
// mask (上下20%をマスク)
// mask (Mask 20% of top and bottom)
auto extractor = feature::orb_extractor(&params, 1000, {{0.0, 1.0, 0.0, 0.2}, {0.0, 1.0, 0.8, 1.0}});

// image
Expand All @@ -245,7 +245,7 @@ TEST(orb_extractor, extract_with_rectangle_mask_1) {
EXPECT_EQ(keypts.size(), desc.rows);
EXPECT_EQ(desc.type(), CV_8U);

// mask内に特徴点が存在しないことを確認
// Verify that no feature points exist in the mask
for (const auto& keypt : keypts) {
EXPECT_GE(keypt.pt.y, img.rows / 5);
EXPECT_LE(keypt.pt.y, 4 * img.rows / 5);
Expand All @@ -263,7 +263,7 @@ TEST(orb_extractor, extract_with_rectangle_mask_1) {

TEST(orb_extractor, extract_with_rectangle_mask_2) {
auto params = feature::orb_params("ORB setting for test");
// mask (上下20%をマスク)
// mask (Mask 20% of left and right)
auto extractor = feature::orb_extractor(&params, 1000, {{0.0, 0.2, 0.0, 1.0}, {0.8, 1.0, 0.0, 1.0}});

// image
Expand All @@ -278,7 +278,7 @@ TEST(orb_extractor, extract_with_rectangle_mask_2) {
EXPECT_EQ(keypts.size(), desc.rows);
EXPECT_EQ(desc.type(), CV_8U);

// mask内に特徴点が存在しないことを確認
// Verify that no feature points exist in the mask
for (const auto& keypt : keypts) {
EXPECT_GE(keypt.pt.x, img.cols / 5);
EXPECT_LE(keypt.pt.x, 4 * img.cols / 5);
Expand All @@ -296,7 +296,7 @@ TEST(orb_extractor, extract_with_rectangle_mask_2) {

TEST(orb_extractor, extract_with_rectangle_mask_3) {
auto params = feature::orb_params("ORB setting for test");
// mask (上下左右20%をマスク)
// mask (Mask 20% of top, bottom, left and right)
auto extractor = feature::orb_extractor(&params, 1000, {{0.0, 0.2, 0.0, 1.0}, {0.8, 1.0, 0.0, 1.0}, {0.0, 1.0, 0.0, 0.2}, {0.0, 1.0, 0.8, 1.0}});

// image
Expand All @@ -311,7 +311,7 @@ TEST(orb_extractor, extract_with_rectangle_mask_3) {
EXPECT_EQ(keypts.size(), desc.rows);
EXPECT_EQ(desc.type(), CV_8U);

// mask内に特徴点が存在しないことを確認
// Verify that no feature points exist in the mask
for (const auto& keypt : keypts) {
EXPECT_GE(keypt.pt.x, img.cols / 5);
EXPECT_LE(keypt.pt.x, 4 * img.cols / 5);
Expand All @@ -337,7 +337,7 @@ TEST(orb_extractor, extract_toy_sample_3) {
auto img = cv::Mat(1200, 600, CV_8UC1);
img = 255;
cv::rectangle(img, cv::Point2i(300, 600), cv::Point2i(600, 1200), cv::Scalar(0), -1, cv::LINE_AA);
// mask (無効)
// mask (disabled)
const auto mask = cv::Mat();

std::vector<cv::KeyPoint> keypts;
Expand All @@ -349,7 +349,7 @@ TEST(orb_extractor, extract_toy_sample_3) {
EXPECT_EQ(keypts.size(), desc.rows);
EXPECT_EQ(desc.type(), CV_8U);

// スケールを考慮して誤差を測定
// evaluate error with scale
for (const auto& keypt : keypts) {
EXPECT_NEAR(keypt.pt.x, 300, 2.0 * params.scale_factors_.at(keypt.octave));
EXPECT_NEAR(keypt.pt.y, 600, 2.0 * params.scale_factors_.at(keypt.octave));
Expand All @@ -365,7 +365,7 @@ TEST(orb_extractor, extract_without_mask_3) {
// Rotate the landscape image to make it portrait one
cv::Mat img;
cv::rotate(img_land, img, cv::ROTATE_90_CLOCKWISE);
// mask (無効)
// mask (disabled)
const auto mask = cv::Mat();

std::vector<cv::KeyPoint> keypts;
Expand All @@ -387,7 +387,7 @@ TEST(orb_extractor, extract_without_mask_4) {
// Rotate the landscape image to make it portrait one
cv::Mat img;
cv::rotate(img_land, img, cv::ROTATE_90_CLOCKWISE);
// mask (無効)
// mask (disabled)
const auto mask = cv::Mat();

std::vector<cv::KeyPoint> keypts;
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