TestHarrisDetector.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_TEST_TESTCV_TESTDETECTOR_TEST_HARRIS_DETECTOR_H
#define META_OCEAN_TEST_TESTCV_TESTDETECTOR_TEST_HARRIS_DETECTOR_H
 
#include "ocean/test/testcv/testdetector/TestCVDetector.h"
 
#include "ocean/cv/detector/HarrisCorner.h"
 
#include "ocean/test/TestSelector.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestCV
{
 
namespace TestDetector
{
 
/**
 * This class implements a Harris corner detector test.
 * @ingroup testcvdetector
 */
class OCEAN_TEST_CV_DETECTOR_EXPORT TestHarrisDetector
{
    public:
 
        /**
         * Tests the Harris corner detector.
         * @param frame Test frame to be used for feature detection, invalid to use a random image
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object
         * @param selector The test selector to filter tests
         * @return True, if succeeded
         */
        static bool test(const Frame& frame, const double testDuration, Worker& worker, const TestSelector& selector);
 
        /**
         * Tests the threshold function.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testThreshold(const double testDuration);
 
        /**
         * Tests the Harris corner detector with pixel accuracy.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object
         * @param yFrameTest Optional explicit frame to be used for testing, otherwise a random image will be used
         * @return True, if succeeded
         */
        static bool testPixelAccuracy(const double testDuration, Worker& worker, const Frame& yFrameTest = Frame());
 
        /**
         * Tests the Harris corner detector with pixel accuracy for a frame with one rectangle.
         * @param width The width of the frame in pixel, with range [20, infinity)
         * @param height The height of the frame in pixel, with range [20, infinity)
         * @param testDuration Number of seconds for the test, with range (0, infinity)
         * @param worker The worker object
         * @return True, if succeeded
         */
        static bool testPixelAccuracyCorners(const unsigned int width, const unsigned int height, const double testDuration, Worker& worker);
 
        /**
         * Tests the Harris corner detector with sub-pixel accuracy.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object
         * @param yFrameTest Optional explicit frame to be used for testing, otherwise a random image will be used
         * @return True, if succeeded
         */
        static bool testSubPixelAccuracy(const double testDuration, Worker& worker, const Frame& yFrameTest = Frame());
 
        /**
         * Tests the corner detection function in a sub-frame.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object
         * @param yFrameTest Optional explicit frame to be used for testing, otherwise a random image will be used
         * @return True, if succeeded
         */
        static bool testSubFrameDetection(const double testDuration, Worker& worker, const Frame& yFrameTest = Frame());
 
        /**
         * Tests the precise corner detection function is a hard-coded image.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object
         * @return True, if succeeded
         */
        static bool testPreciseCornerDetection(const double testDuration, Worker& worker);
 
        /**
         * Tests the corner detection function in a checkerboard image.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object
         * @return True, if succeeded
         */
        static bool testCheckerboardDetection(const double testDuration, Worker& worker);
 
        /**
         * Tests the Harris response for a single pixel.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object
         * @return True, if succeeded
         */
        static bool testHarrisVotePixel(const double testDuration, Worker& worker);
 
        /**
         * Tests the Harris response for an entire frame.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object
         * @param yFrameTest Optional explicit frame to be used for testing, otherwise a random image will be used
         * @return True, if succeeded
         */
        static bool testHarrisVoteFrame(const double testDuration, Worker& worker, const Frame& yFrameTest = Frame());
 
    private:
 
        /**
         * Validates the Harris corner detector with pixel accuracy.
         * @param yFrame Original gray scale frame to be used for feature detection, must be valid
         * @param threshold Harris feature detection threshold
         * @param features The features for which the accuracy will be validated
         * @return True, if succeeded
         */
        static bool validatePixelAccuracy(const Frame& yFrame, const unsigned int threshold, const CV::Detector::HarrisCorners& features);
 
        /**
         * Determines the horizontal gradient (Sobel response) at a given position.
         * @param yFrame The frame in which the gradient will be determined, must be valid
         * @param x Horizontal position in pixel, with range [1, width - 1)
         * @param y Vertical position in pixel, with range [1, height - 1)
         * @return Resulting horizontal response
         * @tparam tRoundedDivision True, to use a rounded division for integers; False, to use a normal division
         */
        template <bool tRoundedDivision>
        static int horizontalGradient(const Frame& yFrame, const unsigned int x, const unsigned int y);
 
        /**
         * Determines the vertical gradient (Sobel response) at a given position.
         * @param yFrame The frame in which the gradient will be determined, must be valid
         * @param x Horizontal position in pixel, with range [1, width - 1)
         * @param y Vertical position in pixel, with range [1, height - 1)
         * @return Resulting vertical response
         * @tparam tRoundedDivision True, to use a rounded division for integers; False, to use a normal division
         */
        template <bool tRoundedDivision>
        static int verticalGradient(const Frame& yFrame, const unsigned int x, const unsigned int y);
 
        /**
         * Determines the Harris vote for a given point in a 3x3 neighborhood.
         * @param yFrame The frame in which the Harris corner vote is determined, must be valid
         * @param x Horizontal position with range [2, width - 2)
         * @param y Vertical position with range [2, height - 2)
         * @return Resulting Harris vote
         * @tparam tRoundedDivision True, to use a rounded division for integers; False, to use a normal division
         */
        template <bool tRoundedDivision>
        static int harrisVote3x3(const Frame& yFrame, const unsigned int x, const unsigned int y);
 
        /**
         * Sorts two Harris corner objects.
         * @param a First object
         * @param b Second object
         * @return True, if the first object is lesser than the second object
         */
        static bool sortHarris(const CV::Detector::HarrisCorner& a, const CV::Detector::HarrisCorner& b);
 
        /**
         * Sorts two positions so that the y-position is the major sorting criterion and the x-position is the minor sorting criterion.
         * @param positionA First position
         * @param positionB Second position
         * @return True, if the first position is lesser than the second position
         */
        static bool sortPosition(const Vector2& positionA, const Vector2& positionB);
 
        /**
         * Performs a rounded division of integer values.
         * @param value The nominator, with range (-infinity, infinity)
         * @param denominator The denominator, with range [1, infinity)
         * @return The rounded result of the division
         */
        static inline int roundedDivision(const int value, const unsigned int denominator);
};
 
inline int TestHarrisDetector::roundedDivision(const int value, const unsigned int denominator)
{
    ocean_assert(denominator != 0);
 
    if (value >= 0)
    {
        return (value + int(denominator / 2u)) / int(denominator);
    }
    else
    {
        return (value - int(denominator / 2u)) / int(denominator);
    }
}
 
}
 
}
 
}
 
}
 
#endif // META_OCEAN_TEST_TESTCV_TESTDETECTOR_TEST_HARRIS_DETECTOR_H