TestORBDetector.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_ORB_DETECTOR_H
#define META_OCEAN_TEST_TESTCV_TESTDETECTOR_TEST_ORB_DETECTOR_H
 
#include "ocean/test/testcv/testdetector/TestCVDetector.h"
 
#include "ocean/cv/detector/ORBFeatureDescriptor.h"
 
#include "ocean/test/TestSelector.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestCV
{
 
namespace TestDetector
{
 
/**
 * This class implements a ORB detector test.
 * @ingroup testcvdetector
 */
class OCEAN_TEST_CV_DETECTOR_EXPORT TestORBDetector
{
    public:
 
        /**
         * Tests all ORB descriptor functions.
         * @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 determination of the orientation of all given features.
         * @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 testOrientationDetermination(const double testDuration, Worker& worker, const Frame& yFrameTest = Frame());
 
        /**
         * Tests the determination of the descriptor of all given features.
         * @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 testDescriptorDetermination(const double testDuration, Worker& worker, const Frame& yFrameTest = Frame());
 
        /**
         * Tests the detection and description of reference features.
         * This test is mainly a stress test.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object
         * @return True, if succeeded
         */
        static bool testDetectReferenceFeaturesAndDetermineDescriptors(const double testDuration, Worker& worker);
 
        /**
         * Tests the determination of the hamming distance between two randomized descriptors.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testHammingDistanceDetermination(const double testDuration);
 
        /**
         * Tests the matching of randomized descriptors
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object
         * @return True, if succeeded
         */
        static bool testDescriptorMatching(const double testDuration, Worker& worker);
 
    protected:
 
        /**
         * Validate the calculation of the orientation.
         * @param linedIntegralFrame Pointer to the (lined) integral frame of the actual 8 bit frame for which the feature descriptors will be calculated, the integral frame has an extra line with zero pixels on the left and top of the integral frame
         * @param width The width of the original frame in pixel (not the width of the lined-integral frame), with range [1, infinity)
         * @param height The height of the original frame in pixel (not the height of the lined-integral frame), with range [1, infinity)
         * @param features The features to validate
         * @return The success percentage, with range [0, 1]
         */
        static double validateOrientation(const uint32_t* linedIntegralFrame, const unsigned int width, const unsigned int height, CV::Detector::ORBFeatures& features);
 
        /**
         * Validate the calculation of the descriptor.
         * @param linedIntegralFrame Pointer to the (lined) integral frame of the actual 8 bit frame for which the feature descriptors will be calculated, the integral frame has an extra line with zero pixels on the left and top of the integral frame
         * @param width The width of the original frame in pixel (not the width of the lined-integral frame), with range [1, infinity)
         * @param height The height of the original frame in pixel (not the height of the lined-integral frame), with range [1, infinity)
         * @param features The features to validate
         * @return True, if succeeded
         */
        static bool validateDescriptors(const uint32_t* linedIntegralFrame, const unsigned int width, const unsigned int height, CV::Detector::ORBFeatures& features);
 
        /**
         * Validate the calculation of the hamming distance.
         * @param descriptors1 First descriptor to validate
         * @param descriptors2 Second descriptor to validate
         * @return True, if succeeded
         */
        static bool validateHammingDistance(const std::vector<CV::Detector::ORBDescriptor>& descriptors1, const std::vector<CV::Detector::ORBDescriptor>& descriptors2);
 
        /**
         * Validate the descriptor matching.
         * @param matches Calculated indices of matches to check the validation for
         * @param checkMatches Pre calculated correct indices of matches
         * @return True, if succeeded
         */
        static bool validateDescriptorMatching(const IndexPairs32& matches, const IndexPairs32& checkMatches);
};
 
}
 
}
 
}
 
}
 
#endif // META_OCEAN_TEST_TESTCV_TESTDETECTOR_TEST_ORB_DETECTOR_H