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//
// * Redistributions of source code must retain the above copyright
// notice, this list of conditions and the following disclaimer.
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// documentation and/or other materials provided with the distribution.
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// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// Author: Johannes L. Schoenberger (jsch-at-demuc-dot-de)
#define TEST_NAME "feature/utils"
#include "util/testing.h"
#include "feature/utils.h"
using namespace colmap;
BOOST_AUTO_TEST_CASE(TestFeatureKeypointsToPointsVector) {
FeatureKeypoints keypoints(2);
keypoints[1].x = 0.1;
keypoints[1].y = 0.2;
const std::vector<Eigen::Vector2d> points =
FeatureKeypointsToPointsVector(keypoints);
BOOST_CHECK_EQUAL(points[0], Eigen::Vector2d(0, 0));
BOOST_CHECK_EQUAL(points[1].cast<float>(), Eigen::Vector2f(0.1, 0.2));
}
BOOST_AUTO_TEST_CASE(TestL2NormalizeFeatureDescriptors) {
Eigen::MatrixXf descriptors = Eigen::MatrixXf::Random(100, 128);
descriptors.array() += 1.0f;
const Eigen::MatrixXf descriptors_normalized =
L2NormalizeFeatureDescriptors(descriptors);
for (Eigen::MatrixXf::Index r = 0; r < descriptors.rows(); ++r) {
BOOST_CHECK(std::abs(descriptors_normalized.row(r).norm() - 1.0f) < 1e-6);
}
}
BOOST_AUTO_TEST_CASE(TestL1RootNormalizeFeatureDescriptors) {
Eigen::MatrixXf descriptors = Eigen::MatrixXf::Random(100, 128);
descriptors.array() += 1.0f;
const Eigen::MatrixXf descriptors_normalized =
L1RootNormalizeFeatureDescriptors(descriptors);
for (Eigen::MatrixXf::Index r = 0; r < descriptors.rows(); ++r) {
BOOST_CHECK(std::abs(descriptors_normalized.row(r).norm() - 1.0f) < 1e-6);
}
}
BOOST_AUTO_TEST_CASE(TestFeatureDescriptorsToUnsignedByte) {
Eigen::MatrixXf descriptors = Eigen::MatrixXf::Random(100, 128);
descriptors.array() += 1.0f;
const FeatureDescriptors descriptors_uint8 =
FeatureDescriptorsToUnsignedByte(descriptors);
for (Eigen::MatrixXf::Index r = 0; r < descriptors.rows(); ++r) {
for (Eigen::MatrixXf::Index c = 0; c < descriptors.cols(); ++c) {
BOOST_CHECK_EQUAL(static_cast<uint8_t>(std::min(
255.0f, std::round(512.0f * descriptors(r, c)))),
descriptors_uint8(r, c));
}
}
}
BOOST_AUTO_TEST_CASE(TestExtractTopScaleFeatures) {
FeatureKeypoints keypoints(5);
keypoints[0].Rescale(3);
keypoints[1].Rescale(4);
keypoints[2].Rescale(1);
keypoints[3].Rescale(5);
keypoints[4].Rescale(2);
const FeatureDescriptors descriptors = FeatureDescriptors::Random(5, 128);
auto top_keypoints2 = keypoints;
auto top_descriptors2 = descriptors;
ExtractTopScaleFeatures(&top_keypoints2, &top_descriptors2, 2);
BOOST_CHECK_EQUAL(top_keypoints2.size(), 2);
BOOST_CHECK_EQUAL(top_keypoints2[0].ComputeScale(),
keypoints[3].ComputeScale());
BOOST_CHECK_EQUAL(top_keypoints2[1].ComputeScale(),
keypoints[1].ComputeScale());
BOOST_CHECK_EQUAL(top_descriptors2.rows(), 2);
BOOST_CHECK_EQUAL(top_descriptors2.row(0), descriptors.row(3));
BOOST_CHECK_EQUAL(top_descriptors2.row(1), descriptors.row(1));
auto top_keypoints5 = keypoints;
auto top_descriptors5 = descriptors;
ExtractTopScaleFeatures(&top_keypoints5, &top_descriptors5, 5);
BOOST_CHECK_EQUAL(top_keypoints5.size(), 5);
BOOST_CHECK_EQUAL(top_descriptors5.rows(), 5);
BOOST_CHECK_EQUAL(top_descriptors5, descriptors);
auto top_keypoints6 = keypoints;
auto top_descriptors6 = descriptors;
ExtractTopScaleFeatures(&top_keypoints6, &top_descriptors6, 6);
BOOST_CHECK_EQUAL(top_keypoints5.size(), 5);
BOOST_CHECK_EQUAL(top_descriptors6.rows(), 5);
BOOST_CHECK_EQUAL(top_descriptors6, descriptors);
}
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