Task01 Вадим Бенкевич НИИЧАВО

[vb002]

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Run ./build/test_sift
Running main() from /home/runner/work/PhotogrammetryTasks2026/PhotogrammetryTasks2026/libs/3rdparty/libgtest/googletest/src/gtest_main.cc
[==========] Running 25 tests from 1 test suite.
[----------] Global test environment set-up.
[----------] 25 tests from SIFT
[ RUN      ] SIFT.MovedTheSameImage
[ORB_OCV] Points detected: 500 -> 500 (in 0.011729 sec)
[ORB_OCV] 493/500 (recall=0.986) with average error=0.0520289
[ORB_OCV] average size ratio between matched points: 1.00185
[ORB_OCV] average angle difference between matched points: 0.145135 degrees
[ORB_OCV] average descriptor distance between matched points: 8.8073 (random distance: 127.325) => differentiability=0.0691721
[SIFTOCV] Points detected: 453 -> 465 (in 0.092205 sec)
[SIFTOCV] 436/453 (recall=0.962472) with average error=0.0435686
[SIFTOCV] average size ratio between matched points: 0.998252
[SIFTOCV] average angle difference between matched points: -4.7478 degrees
[SIFTOCV] average descriptor distance between matched points: 90.3355 (random distance: 523.008) => differentiability=0.172723
[SIFT_MY] Points detected: 424 -> 440 (in 0.168269 sec)
[SIFT_MY] 408/424 (recall=0.962264) with average error=0.0457224
[SIFT_MY] average size ratio between matched points: 0.997958
[SIFT_MY] average angle difference between matched points: -6.4175 degrees
[SIFT_MY] average descriptor distance between matched points: 0.159853 (random distance: 1.02994) => differentiability=0.155207
[       OK ] SIFT.MovedTheSameImage (346 ms)
[ RUN      ] SIFT.MovedImageRight
[ORB_OCV] Points detected: 500 -> 500 (in 0.009939 sec)
[ORB_OCV] 471/500 (recall=0.942) with average error=0.502929
[ORB_OCV] average size ratio between matched points: 0.992385
[ORB_OCV] average angle difference between matched points: -0.67963 degrees
[ORB_OCV] average descriptor distance between matched points: 31.7219 (random distance: 127.724) => differentiability=0.248363
[SIFTOCV] Points detected: 453 -> 447 (in 0.087129 sec)
[SIFTOCV] 421/442 (recall=0.952489) with average error=0.107924
[SIFTOCV] average size ratio between matched points: 1.01134
[SIFTOCV] average angle difference between matched points: -3.58242 degrees
[SIFTOCV] average descriptor distance between matched points: 90.1555 (random distance: 527.86) => differentiability=0.170794
[SIFT_MY] Points detected: 424 -> 429 (in 0.159812 sec)
[SIFT_MY] 399/422 (recall=0.945498) with average error=0.11273
[SIFT_MY] average size ratio between matched points: 1.00791
[SIFT_MY] average angle difference between matched points: -6.20512 degrees
[SIFT_MY] average descriptor distance between matched points: 0.171172 (random distance: 1.00889) => differentiability=0.169664
[       OK ] SIFT.MovedImageRight (329 ms)
[ RUN      ] SIFT.MovedImageLeft
[ORB_OCV] Points detected: 500 -> 500 (in 0.010035 sec)
[ORB_OCV] 466/498 (recall=0.935743) with average error=0.485198
[ORB_OCV] average size ratio between matched points: 1.0061
[ORB_OCV] average angle difference between matched points: -2.01597 degrees
[ORB_OCV] average descriptor distance between matched points: 30.279 (random distance: 126.457) => differentiability=0.239441
[SIFTOCV] Points detected: 453 -> 447 (in 0.076851 sec)
[SIFTOCV] 417/441 (recall=0.945578) with average error=0.0855277
[SIFTOCV] average size ratio between matched points: 0.997577
[SIFTOCV] average angle difference between matched points: -6.43682 degrees
[SIFTOCV] average descriptor distance between matched points: 97.5722 (random distance: 523.97) => differentiability=0.186217
[SIFT_MY] Points detected: 424 -> 422 (in 0.157643 sec)
[SIFT_MY] 391/417 (recall=0.93765) with average error=0.0654435
[SIFT_MY] average size ratio between matched points: 0.998206
[SIFT_MY] average angle difference between matched points: -6.39811 degrees
[SIFT_MY] average descriptor distance between matched points: 0.16641 (random distance: 1.02064) => differentiability=0.163045
[       OK ] SIFT.MovedImageLeft (315 ms)
[ RUN      ] SIFT.MovedImageUpHalfPixel
[ORB_OCV] Points detected: 500 -> 500 (in 0.009901 sec)
[ORB_OCV] 460/497 (recall=0.925553) with average error=0.710802
[ORB_OCV] average size ratio between matched points: 1.01167
[ORB_OCV] average angle difference between matched points: 0.857323 degrees
[ORB_OCV] average descriptor distance between matched points: 42.9087 (random distance: 123.602) => differentiability=0.347152
[SIFTOCV] Points detected: 453 -> 500 (in 0.0781 sec)
[SIFTOCV] 367/445 (recall=0.824719) with average error=0.398716
[SIFTOCV] average size ratio between matched points: 1.0449
[SIFTOCV] average angle difference between matched points: 0.114179 degrees
[SIFTOCV] average descriptor distance between matched points: 152.166 (random distance: 530.014) => differentiability=0.287097
[SIFT_MY] Points detected: 424 -> 488 (in 0.163985 sec)
[SIFT_MY] 356/420 (recall=0.847619) with average error=0.387394
[SIFT_MY] average size ratio between matched points: 1.04654
[SIFT_MY] average angle difference between matched points: -7.16037 degrees
[SIFT_MY] average descriptor distance between matched points: 0.283155 (random distance: 1.0065) => differentiability=0.281327
[       OK ] SIFT.MovedImageUpHalfPixel (323 ms)
[ RUN      ] SIFT.MovedImageDownHalfPixel
[ORB_OCV] Points detected: 500 -> 500 (in 0.009911 sec)
[ORB_OCV] 442/478 (recall=0.924686) with average error=0.648609
[ORB_OCV] average size ratio between matched points: 0.971097
[ORB_OCV] average angle difference between matched points: -1.00358 degrees
[ORB_OCV] average descriptor distance between matched points: 42.586 (random distance: 125.477) => differentiability=0.339392
[SIFTOCV] Points detected: 453 -> 500 (in 0.076926 sec)
[SIFTOCV] 374/439 (recall=0.851936) with average error=0.445461
[SIFTOCV] average size ratio between matched points: 1.05024
[SIFTOCV] average angle difference between matched points: 0.589903 degrees
[SIFTOCV] average descriptor distance between matched points: 165.511 (random distance: 529.613) => differentiability=0.312513
[SIFT_MY] Points detected: 424 -> 471 (in 0.162602 sec)
[SIFT_MY] 351/417 (recall=0.841727) with average error=0.435946
[SIFT_MY] average size ratio between matched points: 1.04905
[SIFT_MY] average angle difference between matched points: -6.8173 degrees
[SIFT_MY] average descriptor distance between matched points: 0.302628 (random distance: 1.02429) => differentiability=0.295452
[       OK ] SIFT.MovedImageDownHalfPixel (321 ms)
[ RUN      ] SIFT.Rotate10
[ORB_OCV] Points detected: 500 -> 500 (in 0.009988 sec)
[ORB_OCV] 475/500 (recall=0.95) with average error=0.932881
[ORB_OCV] average size ratio between matched points: 1.00527
[ORB_OCV] average angle difference between matched points: 8.46336 degrees
[ORB_OCV] average descriptor distance between matched points: 56.6295 (random distance: 122.783) => differentiability=0.461215
[SIFTOCV] Points detected: 453 -> 500 (in 0.085029 sec)
[SIFTOCV] 350/451 (recall=0.776053) with average error=0.501799
[SIFTOCV] average size ratio between matched points: 1.03657
[SIFTOCV] average angle difference between matched points: 6.5729 degrees
[SIFTOCV] average descriptor distance between matched points: 178.858 (random distance: 521.738) => differentiability=0.342812
[SIFT_MY] Points detected: 424 -> 485 (in 0.165421 sec)
[SIFT_MY] 343/424 (recall=0.808962) with average error=0.5098
[SIFT_MY] average size ratio between matched points: 1.04221
[SIFT_MY] average angle difference between matched points: -3.91352 degrees
[SIFT_MY] average descriptor distance between matched points: 0.335045 (random distance: 1.02509) => differentiability=0.326845
[       OK ] SIFT.Rotate10 (333 ms)
[ RUN      ] SIFT.Rotate20
[ORB_OCV] Points detected: 500 -> 500 (in 0.009957 sec)
[ORB_OCV] 456/491 (recall=0.928717) with average error=0.860867
[ORB_OCV] average size ratio between matched points: 0.968872
[ORB_OCV] average angle difference between matched points: 19.4252 degrees
[ORB_OCV] average descriptor distance between matched points: 58.3224 (random distance: 125.59) => differentiability=0.464387
[SIFTOCV] Points detected: 453 -> 500 (in 0.076874 sec)
[SIFTOCV] 337/443 (recall=0.760722) with average error=0.556804
[SIFTOCV] average size ratio between matched points: 1.04965
[SIFTOCV] average angle difference between matched points: 1.4678 degrees
[SIFTOCV] average descriptor distance between matched points: 186.303 (random distance: 531.487) => differentiability=0.350531
[SIFT_MY] Points detected: 424 -> 488 (in 0.164932 sec)
[SIFT_MY] 325/417 (recall=0.779376) with average error=0.560121
[SIFT_MY] average size ratio between matched points: 1.05133
[SIFT_MY] average angle difference between matched points: 1.28393 degrees
[SIFT_MY] average descriptor distance between matched points: 0.34562 (random distance: 1.01898) => differentiability=0.339182
[       OK ] SIFT.Rotate20 (323 ms)
[ RUN      ] SIFT.Rotate30
[ORB_OCV] Points detected: 500 -> 500 (in 0.010135 sec)
[ORB_OCV] 446/479 (recall=0.931106) with average error=0.954674
[ORB_OCV] average size ratio between matched points: 0.971588
[ORB_OCV] average angle difference between matched points: 25.313 degrees
[ORB_OCV] average descriptor distance between matched points: 56.7668 (random distance: 125.177) => differentiability=0.453492
[SIFTOCV] Points detected: 453 -> 500 (in 0.076991 sec)
[SIFTOCV] 356/441 (recall=0.807256) with average error=0.635313
[SIFTOCV] average size ratio between matched points: 1.04861
[SIFTOCV] average angle difference between matched points: 9.58379 degrees
[SIFTOCV] average descriptor distance between matched points: 194.029 (random distance: 529.795) => differentiability=0.366233
[SIFT_MY] Points detected: 424 -> 476 (in 0.163775 sec)
[SIFT_MY] 335/416 (recall=0.805288) with average error=0.614676
[SIFT_MY] average size ratio between matched points: 1.04884
[SIFT_MY] average angle difference between matched points: 10.3163 degrees
[SIFT_MY] average descriptor distance between matched points: 0.339755 (random distance: 1.02273) => differentiability=0.332204
[       OK ] SIFT.Rotate30 (323 ms)
[ RUN      ] SIFT.Rotate40
[ORB_OCV] Points detected: 500 -> 500 (in 0.009939 sec)
[ORB_OCV] 445/475 (recall=0.936842) with average error=0.927974
[ORB_OCV] average size ratio between matched points: 0.992927
[ORB_OCV] average angle difference between matched points: 35.1473 degrees
[ORB_OCV] average descriptor distance between matched points: 57.0315 (random distance: 125.292) => differentiability=0.455188
[SIFTOCV] Points detected: 453 -> 470 (in 0.0766 sec)
[SIFTOCV] 335/436 (recall=0.768349) with average error=0.722947
[SIFTOCV] average size ratio between matched points: 1.07134
[SIFTOCV] average angle difference between matched points: 12.1292 degrees
[SIFTOCV] average descriptor distance between matched points: 189.937 (random distance: 524.78) => differentiability=0.361937
[SIFT_MY] Points detected: 424 -> 447 (in 0.163191 sec)
[SIFT_MY] 317/412 (recall=0.769417) with average error=0.716163
[SIFT_MY] average size ratio between matched points: 1.07368
[SIFT_MY] average angle difference between matched points: 17.7504 degrees
[SIFT_MY] average descriptor distance between matched points: 0.344266 (random distance: 1.03005) => differentiability=0.334222
[       OK ] SIFT.Rotate40 (322 ms)
[ RUN      ] SIFT.Rotate45
[ORB_OCV] Points detected: 500 -> 500 (in 0.00996 sec)
[ORB_OCV] 427/475 (recall=0.898947) with average error=0.913293
[ORB_OCV] average size ratio between matched points: 0.999695
[ORB_OCV] average angle difference between matched points: 40.7936 degrees
[ORB_OCV] average descriptor distance between matched points: 57.0351 (random distance: 126.834) => differentiability=0.449684
[SIFTOCV] Points detected: 453 -> 500 (in 0.076958 sec)
[SIFTOCV] 344/431 (recall=0.798144) with average error=0.735095
[SIFTOCV] average size ratio between matched points: 1.04736
[SIFTOCV] average angle difference between matched points: 25.7374 degrees
[SIFTOCV] average descriptor distance between matched points: 189.73 (random distance: 526.815) => differentiability=0.360145
[SIFT_MY] Points detected: 424 -> 491 (in 0.171362 sec)
[SIFT_MY] 327/408 (recall=0.801471) with average error=0.707951
[SIFT_MY] average size ratio between matched points: 1.05652
[SIFT_MY] average angle difference between matched points: 25.4261 degrees
[SIFT_MY] average descriptor distance between matched points: 0.344143 (random distance: 1.03203) => differentiability=0.333462
[       OK ] SIFT.Rotate45 (330 ms)
[ RUN      ] SIFT.Rotate90
[ORB_OCV] Points detected: 500 -> 500 (in 0.009563 sec)
[ORB_OCV] 406/475 (recall=0.854737) with average error=0.794018
[ORB_OCV] average size ratio between matched points: 0.926186
[ORB_OCV] average angle difference between matched points: 81.2045 degrees
[ORB_OCV] average descriptor distance between matched points: 52.2069 (random distance: 126.239) => differentiability=0.413556
[SIFTOCV] Points detected: 453 -> 429 (in 0.078141 sec)
[SIFTOCV] 397/428 (recall=0.92757) with average error=0.597669
[SIFTOCV] average size ratio between matched points: 0.994223
[SIFTOCV] average angle difference between matched points: 68.2509 degrees
[SIFTOCV] average descriptor distance between matched points: 109.39 (random distance: 522.253) => differentiability=0.209459
[SIFT_MY] Points detected: 424 -> 410 (in 0.155964 sec)
[SIFT_MY] 372/410 (recall=0.907317) with average error=0.60056
[SIFT_MY] average size ratio between matched points: 0.995118
[SIFT_MY] average angle difference between matched points: 71.3043 degrees
[SIFT_MY] average descriptor distance between matched points: 0.188306 (random distance: 1.00293) => differentiability=0.187756
[       OK ] SIFT.Rotate90 (315 ms)
[ RUN      ] SIFT.Scale50
[ORB_OCV] Points detected: 500 -> 500 (in 0.009491 sec)
[ORB_OCV] 463/500 (recall=0.926) with average error=0.927987
[ORB_OCV] average size ratio between matched points: 0.829127
[ORB_OCV] average angle difference between matched points: 2.9143 degrees
[ORB_OCV] average descriptor distance between matched points: 89.7322 (random distance: 124.84) => differentiability=0.718776
[SIFTOCV] Points detected: 453 -> 191 (in 0.073334 sec)
[SIFTOCV] 235/453 (recall=0.518764) with average error=1.81213
[SIFTOCV] average size ratio between matched points: 0.90594
[SIFTOCV] average angle difference between matched points: -0.218442 degrees
[SIFTOCV] average descriptor distance between matched points: 362.817 (random distance: 526.31) => differentiability=0.68936
[SIFT_MY] Points detected: 424 -> 187 (in 0.129909 sec)
[SIFT_MY] 219/424 (recall=0.516509) with average error=1.91889
[SIFT_MY] average size ratio between matched points: 0.957992
[SIFT_MY] average angle difference between matched points: 2.96179 degrees
[SIFT_MY] average descriptor distance between matched points: 0.711257 (random distance: 1.03842) => differentiability=0.684942
[       OK ] SIFT.Scale50 (283 ms)
[ RUN      ] SIFT.Scale70
[ORB_OCV] Points detected: 500 -> 500 (in 0.009729 sec)
[ORB_OCV] 488/500 (recall=0.976) with average error=0.902066
[ORB_OCV] average size ratio between matched points: 0.884398
[ORB_OCV] average angle difference between matched points: 1.14689 degrees
[ORB_OCV] average descriptor distance between matched points: 70.2889 (random distance: 124.695) => differentiability=0.563688
[SIFTOCV] Points detected: 453 -> 335 (in 0.07427 sec)
[SIFTOCV] 307/453 (recall=0.677704) with average error=1.1649
[SIFTOCV] average size ratio between matched points: 0.92551
[SIFTOCV] average angle difference between matched points: -8.88537 degrees
[SIFTOCV] average descriptor distance between matched points: 272.272 (random distance: 530.603) => differentiability=0.513138
[SIFT_MY] Points detected: 424 -> 318 (in 0.142643 sec)
[SIFT_MY] 291/424 (recall=0.686321) with average error=1.22699
[SIFT_MY] average size ratio between matched points: 0.967551
[SIFT_MY] average angle difference between matched points: -5.74811 degrees
[SIFT_MY] average descriptor distance between matched points: 0.540313 (random distance: 1.03738) => differentiability=0.520843
[       OK ] SIFT.Scale70 (298 ms)
[ RUN      ] SIFT.Scale90
[ORB_OCV] Points detected: 500 -> 500 (in 0.009855 sec)
[ORB_OCV] 489/500 (recall=0.978) with average error=0.823308
[ORB_OCV] average size ratio between matched points: 0.970324
[ORB_OCV] average angle difference between matched points: -0.183516 degrees
[ORB_OCV] average descriptor distance between matched points: 60.3333 (random distance: 125.059) => differentiability=0.482438
[SIFTOCV] Points detected: 453 -> 469 (in 0.076852 sec)
[SIFTOCV] 354/453 (recall=0.781457) with average error=0.59984
[SIFTOCV] average size ratio between matched points: 1.00052
[SIFTOCV] average angle difference between matched points: -4.5203 degrees
[SIFTOCV] average descriptor distance between matched points: 193.204 (random distance: 523.29) => differentiability=0.369209
[SIFT_MY] Points detected: 424 -> 431 (in 0.158838 sec)
[SIFT_MY] 336/424 (recall=0.792453) with average error=0.643454
[SIFT_MY] average size ratio between matched points: 0.99799
[SIFT_MY] average angle difference between matched points: -4.59535 degrees
[SIFT_MY] average descriptor distance between matched points: 0.401302 (random distance: 1.00811) => differentiability=0.398073
[       OK ] SIFT.Scale90 (317 ms)
[ RUN      ] SIFT.Scale110
[ORB_OCV] Points detected: 500 -> 500 (in 0.009905 sec)
[ORB_OCV] 462/500 (recall=0.924) with average error=0.912118
[ORB_OCV] average size ratio between matched points: 1.02967
[ORB_OCV] average angle difference between matched points: -0.905967 degrees
[ORB_OCV] average descriptor distance between matched points: 59.7468 (random distance: 125.225) => differentiability=0.477115
[SIFTOCV] Points detected: 453 -> 500 (in 0.076857 sec)
[SIFTOCV] 307/434 (recall=0.707373) with average error=0.561683
[SIFTOCV] average size ratio between matched points: 1.15716
[SIFTOCV] average angle difference between matched points: 1.13854 degrees
[SIFTOCV] average descriptor distance between matched points: 182.143 (random distance: 530.492) => differentiability=0.343347
[SIFT_MY] Points detected: 424 -> 493 (in 0.167752 sec)
[SIFT_MY] 304/421 (recall=0.72209) with average error=0.574339
[SIFT_MY] average size ratio between matched points: 1.15415
[SIFT_MY] average angle difference between matched points: -5.88926 degrees
[SIFT_MY] average descriptor distance between matched points: 0.406783 (random distance: 1.03578) => differentiability=0.392731
[       OK ] SIFT.Scale110 (326 ms)
[ RUN      ] SIFT.Scale130
[ORB_OCV] Points detected: 500 -> 500 (in 0.009679 sec)
[ORB_OCV] 400/475 (recall=0.842105) with average error=1.02537
[ORB_OCV] average size ratio between matched points: 1.10237
[ORB_OCV] average angle difference between matched points: -4.78444 degrees
[ORB_OCV] average descriptor distance between matched points: 67.4875 (random distance: 126.4) => differentiability=0.53392
[SIFTOCV] Points detected: 453 -> 500 (in 0.07725 sec)
[SIFTOCV] 253/409 (recall=0.618582) with average error=0.533529
[SIFTOCV] average size ratio between matched points: 1.37601
[SIFTOCV] average angle difference between matched points: -2.24977 degrees
[SIFTOCV] average descriptor distance between matched points: 175.173 (random distance: 529.43) => differentiability=0.33087
[SIFT_MY] Points detected: 424 -> 478 (in 0.166254 sec)
[SIFT_MY] 237/402 (recall=0.589552) with average error=0.514185
[SIFT_MY] average size ratio between matched points: 1.37362
[SIFT_MY] average angle difference between matched points: -3.26666 degrees
[SIFT_MY] average descriptor distance between matched points: 0.357848 (random distance: 1.02575) => differentiability=0.348866
[       OK ] SIFT.Scale130 (326 ms)
[ RUN      ] SIFT.Scale150
[ORB_OCV] Points detected: 500 -> 500 (in 0.009745 sec)
[ORB_OCV] 325/445 (recall=0.730337) with average error=1.18695
[ORB_OCV] average size ratio between matched points: 1.16446
[ORB_OCV] average angle difference between matched points: -1.92861 degrees
[ORB_OCV] average descriptor distance between matched points: 75.4954 (random distance: 125.905) => differentiability=0.599624
[SIFTOCV] Points detected: 453 -> 500 (in 0.078079 sec)
[SIFTOCV] 208/387 (recall=0.537468) with average error=0.519869
[SIFTOCV] average size ratio between matched points: 1.56537
[SIFTOCV] average angle difference between matched points: 2.7434 degrees
[SIFTOCV] average descriptor distance between matched points: 178.951 (random distance: 530.33) => differentiability=0.337433
[SIFT_MY] Points detected: 424 -> 475 (in 0.167512 sec)
[SIFT_MY] 191/380 (recall=0.502632) with average error=0.464552
[SIFT_MY] average size ratio between matched points: 1.54871
[SIFT_MY] average angle difference between matched points: -4.72397 degrees
[SIFT_MY] average descriptor distance between matched points: 0.369212 (random distance: 1.02985) => differentiability=0.358509
[       OK ] SIFT.Scale150 (328 ms)
[ RUN      ] SIFT.Scale175
[ORB_OCV] Points detected: 500 -> 500 (in 0.009774 sec)
[ORB_OCV] 235/380 (recall=0.618421) with average error=1.3217
[ORB_OCV] average size ratio between matched points: 1.25586
[ORB_OCV] average angle difference between matched points: 4.13008 degrees
[ORB_OCV] average descriptor distance between matched points: 84.1617 (random distance: 124.894) => differentiability=0.673867
[SIFTOCV] Points detected: 453 -> 501 (in 0.082631 sec)
[SIFTOCV] 189/354 (recall=0.533898) with average error=0.530545
[SIFTOCV] average size ratio between matched points: 1.79649
[SIFTOCV] average angle difference between matched points: -2.33097 degrees
[SIFTOCV] average descriptor distance between matched points: 182.373 (random distance: 522.122) => differentiability=0.349291
[SIFT_MY] Points detected: 424 -> 461 (in 0.167786 sec)
[SIFT_MY] 162/351 (recall=0.461538) with average error=0.555716
[SIFT_MY] average size ratio between matched points: 1.78824
[SIFT_MY] average angle difference between matched points: 0.536874 degrees
[SIFT_MY] average descriptor distance between matched points: 0.423642 (random distance: 1.03122) => differentiability=0.410814
[       OK ] SIFT.Scale175 (336 ms)
[ RUN      ] SIFT.Scale200
[ORB_OCV] Points detected: 500 -> 500 (in 0.010275 sec)
[ORB_OCV] 174/333 (recall=0.522523) with average error=1.36043
[ORB_OCV] average size ratio between matched points: 1.34374
[ORB_OCV] average angle difference between matched points: -3.78969 degrees
[ORB_OCV] average descriptor distance between matched points: 86.1954 (random distance: 126.011) => differentiability=0.684028
[SIFTOCV] Points detected: 453 -> 500 (in 0.07814 sec)
[SIFTOCV] 178/324 (recall=0.549383) with average error=0.536323
[SIFTOCV] average size ratio between matched points: 2.03968
[SIFTOCV] average angle difference between matched points: -1.02503 degrees
[SIFTOCV] average descriptor distance between matched points: 167.42 (random distance: 528.219) => differentiability=0.316952
[SIFT_MY] Points detected: 424 -> 471 (in 0.169819 sec)
[SIFT_MY] 153/320 (recall=0.478125) with average error=0.550671
[SIFT_MY] average size ratio between matched points: 2.02589
[SIFT_MY] average angle difference between matched points: -12.1815 degrees
[SIFT_MY] average descriptor distance between matched points: 0.316559 (random distance: 1.03178) => differentiability=0.306808
[       OK ] SIFT.Scale200 (334 ms)
[ RUN      ] SIFT.Rotate10Scale90
[ORB_OCV] Points detected: 500 -> 500 (in 0.009952 sec)
[ORB_OCV] 486/500 (recall=0.972) with average error=0.862656
[ORB_OCV] average size ratio between matched points: 1.00909
[ORB_OCV] average angle difference between matched points: 12.1602 degrees
[ORB_OCV] average descriptor distance between matched points: 61.9033 (random distance: 126.477) => differentiability=0.489442
[SIFTOCV] Points detected: 453 -> 464 (in 0.076571 sec)
[SIFTOCV] 351/453 (recall=0.774834) with average error=0.660494
[SIFTOCV] average size ratio between matched points: 0.970697
[SIFTOCV] average angle difference between matched points: 0.36928 degrees
[SIFTOCV] average descriptor distance between matched points: 210.278 (random distance: 528.178) => differentiability=0.39812
[SIFT_MY] Points detected: 424 -> 428 (in 0.159339 sec)
[SIFT_MY] 325/424 (recall=0.766509) with average error=0.622443
[SIFT_MY] average size ratio between matched points: 0.966647
[SIFT_MY] average angle difference between matched points: -0.792508 degrees
[SIFT_MY] average descriptor distance between matched points: 0.427394 (random distance: 1.03031) => differentiability=0.414819
[       OK ] SIFT.Rotate10Scale90 (317 ms)
[ RUN      ] SIFT.Rotate30Scale75
[ORB_OCV] Points detected: 500 -> 500 (in 0.009826 sec)
[ORB_OCV] 471/500 (recall=0.942) with average error=0.873322
[ORB_OCV] average size ratio between matched points: 0.882831
[ORB_OCV] average angle difference between matched points: 32.7295 degrees
[ORB_OCV] average descriptor distance between matched points: 68.9915 (random distance: 123.987) => differentiability=0.55644
[SIFTOCV] Points detected: 453 -> 373 (in 0.075605 sec)
[SIFTOCV] 318/453 (recall=0.701987) with average error=0.961622
[SIFTOCV] average size ratio between matched points: 0.958296
[SIFTOCV] average angle difference between matched points: 6.75176 degrees
[SIFTOCV] average descriptor distance between matched points: 241.741 (random distance: 528.552) => differentiability=0.457364
[SIFT_MY] Points detected: 424 -> 356 (in 0.148741 sec)
[SIFT_MY] 298/424 (recall=0.70283) with average error=1.02689
[SIFT_MY] average size ratio between matched points: 1.0085
[SIFT_MY] average angle difference between matched points: 4.32864 degrees
[SIFT_MY] average descriptor distance between matched points: 0.492526 (random distance: 1.02215) => differentiability=0.481852
[       OK ] SIFT.Rotate30Scale75 (306 ms)
[ RUN      ] SIFT.HerzJesu19RotateM40
[ORB_OCV] Points detected: 500 -> 500 (in 0.08649 sec)
[ORB_OCV] 494/500 (recall=0.988) with average error=1.25431
[ORB_OCV] average size ratio between matched points: 1.00708
[ORB_OCV] average angle difference between matched points: -36.7101 degrees
[ORB_OCV] average descriptor distance between matched points: 48.3603 (random distance: 121.69) => differentiability=0.397405
[SIFTOCV] Points detected: 500 -> 500 (in 2.87497 sec)
[SIFTOCV] 377/435 (recall=0.866667) with average error=2.85298
[SIFTOCV] average size ratio between matched points: 1.00886
[SIFTOCV] average angle difference between matched points: -16.179 degrees
[SIFTOCV] average descriptor distance between matched points: 212.589 (random distance: 537.412) => differentiability=0.395579
[SIFT_MY] Points detected: 449 -> 476 (in 2.66778 sec)
[SIFT_MY] 367/426 (recall=0.861502) with average error=3.05092
[SIFT_MY] average size ratio between matched points: 1.01553
[SIFT_MY] average angle difference between matched points: -18.4285 degrees
[SIFT_MY] average descriptor distance between matched points: 0.425653 (random distance: 1.03998) => differentiability=0.409291
[       OK ] SIFT.HerzJesu19RotateM40 (7433 ms)
[ RUN      ] SIFT.DetectionSmokeTest
upscaled image from 768x1024 to 1536x2048
new octave base size: 768
new octave base size: 384
new octave base size: 192
new octave base size: 96
new octave base size: 48
new octave base size: 24
new octave base size: 12
saving octave 0
saving octave 1
saving octave 2
saving octave 3
saving octave 4
saving octave 5
saving octave 6
saving octave 7
saving octave 0
saving octave 1
saving octave 2
saving octave 3
saving octave 4
saving octave 5
saving octave 6
saving octave 7
octave 0: 2979 keypoints so far
octave 1: 3842 keypoints so far
octave 2: 4001 keypoints so far
octave 3: 4032 keypoints so far
octave 4: 4056 keypoints so far
octave 5: 4063 keypoints so far
octave 6: 4065 keypoints so far
octave 7: 4065 keypoints so far
total keypoints: 4065
orientations: 4065 -> 4844 keypoints
descriptors: 4844 -> 4754 keypoints (some discarded due to border)
[       OK ] SIFT.DetectionSmokeTest (3170 ms)
[ RUN      ] SIFT.DetectionDescriptionSteps
loaded image of size: [384 x 512]
[  CHECK  ] buildOctaves: matched reference step1_octaves.yml.gz
[  CHECK  ] buildDoG: matched reference step2_dog.yml.gz
[  MATCH  ] findScaleSpaceExtrema: 191/191 matched (100%), ref count=191
detected n keypoints: 191
[  MATCH  ] selectTopKeypoints_1: 191/191 matched (100%), ref count=191
selected n keypoints: 191
[  MATCH  ] computeOrientations: 202/202 matched (100%), ref count=202
oriented n keypoints: 202
[  MATCH  ] selectTopKeypoints_2: 202/202 matched (100%), ref count=202
selected n keypoints: 202
[  MATCH  ] computeDescriptors: 182/182 matched (100%), ref count=182 [with descriptors]
described n keypoints: 182
[       OK ] SIFT.DetectionDescriptionSteps (914 ms)
[ RUN      ] SIFT.PairMatching
image sizes: [1536 x 2048], [1536 x 2048]
matching using opencv orb...
N keypoints: left 10000, right 10000
Good matches:       352
Inlier matches:     242
matching using opencv sift...
N keypoints: left 7288, right 6398
Good matches:       1285
Inlier matches:     1172
matching using my sift...
N keypoints: left 7241, right 6277
Good matches:       1179
Inlier matches:     1014
Final score: 1014
[       OK ] SIFT.PairMatching (6381 ms)
[----------] 25 tests from SIFT (24650 ms total)

[----------] Global test environment tear-down
[==========] 25 tests from 1 test suite ran. (24650 ms total)
[  PASSED  ] 25 tests.

[simiyutin]

Здравствуйте, вроде как нет ответов на вопросы

[vb002]

Здравствуйте, подумал, что эти вопросы для дополнительного размышления и не являются обязательными.

1. Почему SIFT менее точно угадывает средний угол отклонения? изменяется ли ситуация если выкрутить параметр ORIENTATION_VOTES_PEAK_RATIO=0.999? почему?

Не совсем ясно из вопроса с кем нужно сравнить SIFT и какую из двух реализаций. Предположу, что нужно сравнить вашу имплементацию с orb. Я предполагаю, что это может
происходить по нескольким причинам:

1. Дискретная структура бинов (даже с учетом дополнительного уточнения и интерполяции)
2. Возможно в тестовых изображениях достаточно много точек, где градиент достаточно равномерно распределен по бинам и небольшие отклонения в освещении и т.п. могут
   приводить к разному выбору главного направления
3. SIFT может выбирать несколько направлений с сильными градиентами, что впоследствии может привести к сопоставлению точек с разными направлениями
4. orb больше заточен на определение поворота изображения

Выкручивание параметра ORIENTATION_VOTES_PEAK_RATIO кажется не помогает улучшить определение угла. Тут кажется причина №3 уже не должна иметь сильный эффект, но остальные вроде бы
сохраняются.

Кстати, отключение параметра enable_orientation_bin_interpolation поднимает final score до 1056.

2. Как надежно замерить во сколько раз распараллеливание через OpenMP ускоряет ваш вариант SIFT? Попробуйте сделать это на вашем компьютере, какое ускорение относительно однопоточной версии оказалось? Сколько у вашего процессора ядер и сколько потоков?

В целом какой-то я бы ожидал какое-то приличное ускорение в случае распараллеливания (хотя бы в несколько раз). Кажется, что вычисление Gaussian пирамиды можно параллелить и обработку ключевых точек,
если их, конечно, достаточно много. Но у себя не успел проверить :).

3. Правда ли можно строить каждый слой в Gaussian пирамиде из самого первого слоя этой октавы? Или нужно обязательно делать так как предложено в статье - дополняя размытие предыдущего слоя этой октавы? Совпадают ли пирамиды визуально?

С математической точки зрения должны совпадать, на практике скорее всего возможны отличия из-за проблем с точностью.

4. Какие ожидания от картинок в Gaussian пирамиде можно придумать? Как проверить что работает корректно? С какой другой картинкой предыдущей октавы должна визуально совпадать конкретная картинка конкретной октавы? Как их визуально сравнить, ведь они разного размера?

Может быть можно нарисовать квадратики/кружочки разных размеров и прикинуть на каких уровнях они должны исчезнуть и проверять с некоторым eps на совпадение?
По построени s картинка i октавы становится нулевой следующей. Видимо s + 1, s + 2 будут совпадать с 1 и 2 соответственно.
Чтобы сравнить, видимо, придется даунсэмплить или апсемплить кого-то и проверять с eps.

5. Почему в октаве Gaussian пирамиды s+3 картинки а не s+2 например?

// нужно +2 слоя для того чтобы крайних было по соседу для поиска максимума в scale space, и еще +1 слой, чтобы получить s DoG слоев (DoG = разность двух)

6. Какие ожидания от картинок в DoG пирамиде можно придумать?

Возможно, что-то аналогичное пункту 4)

7. Почему порог контрастности должен уменьшаться при увеличении числа слоев в октаве?

// чем больше слоев в октаве, тем меньше разница между ними
Не хотим терять потенциально хорошие точки

8. Какая строка ответственна за определение сигмы (или что почти то же самое - радиуса) которая задает
   окрестность по которой определяется ориентация ключевой точки?

float kp_sigma_octave = (float)(sigma0 * std::pow(2.0, (double)layer / s));

9. За какой строки вашего кода дескриптор инвариантен к повороту картинки

float angle_invariant = angle - kp_angle_rad;

[simiyutin]

Все хорошо, задача зачтена, 10/10 баллов 👍