Task01 Михаил Митрофанов ИТМО by mana8reak · Pull Request #4 · PhotogrammetryCourse/PhotogrammetryTasks2026

mana8reak · 2026-02-25T13:51:59Z

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

Возможно из-за учета нескольких направлений в одной точке SIFT хуже противостоит шуму. При выкрученном параметре точность угла отклонения равняется с ORB, но падает количество фич. Думаю, что при выкрутке параметра SIFT перестает учитывать все кроме максимума, что дает более стабильное поведение, но мы жертвуем фичами и универсальностью.

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?

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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?

Да, нет никакой разницы блюрить ли каждый раз с sigma0 или с sigma_prev просто по свойству фильтра гаусса. Пирамиды могут немного отличаться из за погрешностей операций с floating point, но вряд ли человек сможет это заметить.

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?

Чем больше индекс внутри пирамиды тем больше блюр. Каждая октава отличается от предыдущей в 2 раза. 0 слой n октавы должен совпадать с последним (настоящим) слоем n-1 октавы, потому что блюра между ними не происходит, только уменьшается разрешение. Можно растянуть пиксель меньшей картинки на 4 пикселя большей и сравнить.

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

Мы хотим получить s DoG слоев, тогда очевидно картинок должно быть s + 1. Еще 2 нужны для того, чтобы всегда иметь слой выше и ниже при поиске максимума и сравнивать с ними.

Какие ожидания от картинок в DoG пирамиде можно придумать?

На них будут сильно выделяться средние фичи (для текущей степени размытия) и границы объектов, все остальное будет просто серым.

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

Чем больше слоев в октаве, тем меньше будет блюр между ними, а значит меньше разница вообще, а значит и меньше контрастность DoG.

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

float sigma_win = 1.5f * kp_sigma_octave;

За какой строки вашего кода дескриптор инвариантен к повороту картинки?

float angle_invariant = angle - kp_angle_rad;

// Создайте PR.
// Дождитесь отработки Github Actions CI, после чего нажмите на зеленую галочку -> Details -> test_sift -> скопируйте весь лог тестирования.
// Откройте PR на редактирование (сверху справа три точки->Edit) и добавьте сюда скопированный лог тестирования внутри тега

 для сохранения форматирования и под спойлером для компактности и удобства:
Github Actions CI

24s
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 0.01076 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 0.086623 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 -> 444 (in 0.157528 sec)
[SIFT_MY] 408/424 (recall=0.962264) with average error=0.043301
[SIFT_MY] average size ratio between matched points: 0.998178
[SIFT_MY] average angle difference between matched points: -6.50968 degrees
[SIFT_MY] average descriptor distance between matched points: 0.157689 (random distance: 1.02166) => differentiability=0.154347
[       OK ] SIFT.MovedTheSameImage (328 ms)
[ RUN      ] SIFT.MovedImageRight
[ORB_OCV] Points detected: 500 -> 500 (in 0.011508 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 0.083639 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 0.15655 sec)
[SIFT_MY] 400/422 (recall=0.947867) with average error=0.104567
[SIFT_MY] average size ratio between matched points: 1.01068
[SIFT_MY] average angle difference between matched points: -6.29678 degrees
[SIFT_MY] average descriptor distance between matched points: 0.168155 (random distance: 1.01052) => differentiability=0.166404
[       OK ] SIFT.MovedImageRight (323 ms)
[ RUN      ] SIFT.MovedImageLeft
[ORB_OCV] Points detected: 500 -> 500 (in 0.008812 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 0.075027 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 -> 421 (in 0.149451 sec)
[SIFT_MY] 389/417 (recall=0.932854) with average error=0.0530178
[SIFT_MY] average size ratio between matched points: 0.99923
[SIFT_MY] average angle difference between matched points: -6.53188 degrees
[SIFT_MY] average descriptor distance between matched points: 0.163137 (random distance: 1.02721) => differentiability=0.158816
[       OK ] SIFT.MovedImageLeft (303 ms)
[ RUN      ] SIFT.MovedImageUpHalfPixel
[ORB_OCV] Points detected: 500 -> 500 (in 0.008781 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 0.075823 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 0.153935 sec)
[SIFT_MY] 356/420 (recall=0.847619) with average error=0.394246
[SIFT_MY] average size ratio between matched points: 1.04796
[SIFT_MY] average angle difference between matched points: -7.25751 degrees
[SIFT_MY] average descriptor distance between matched points: 0.284665 (random distance: 1.00476) => differentiability=0.283317
[       OK ] SIFT.MovedImageUpHalfPixel (309 ms)
[ RUN      ] SIFT.MovedImageDownHalfPixel
[ORB_OCV] Points detected: 500 -> 500 (in 0.008716 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 0.076585 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 -> 469 (in 0.154725 sec)
[SIFT_MY] 351/417 (recall=0.841727) with average error=0.436654
[SIFT_MY] average size ratio between matched points: 1.04849
[SIFT_MY] average angle difference between matched points: -6.91066 degrees
[SIFT_MY] average descriptor distance between matched points: 0.304173 (random distance: 1.01288) => differentiability=0.300305
[       OK ] SIFT.MovedImageDownHalfPixel (311 ms)
[ RUN      ] SIFT.Rotate10
[ORB_OCV] Points detected: 500 -> 500 (in 0.008841 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 0.07626 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 0.156106 sec)
[SIFT_MY] 343/424 (recall=0.808962) with average error=0.510191
[SIFT_MY] average size ratio between matched points: 1.04224
[SIFT_MY] average angle difference between matched points: -3.64672 degrees
[SIFT_MY] average descriptor distance between matched points: 0.338007 (random distance: 1.0388) => differentiability=0.325384
[       OK ] SIFT.Rotate10 (312 ms)
[ RUN      ] SIFT.Rotate20
[ORB_OCV] Points detected: 500 -> 500 (in 0.008764 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 0.084179 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 0.164497 sec)
[SIFT_MY] 325/417 (recall=0.779376) with average error=0.560275
[SIFT_MY] average size ratio between matched points: 1.04913
[SIFT_MY] average angle difference between matched points: 1.18576 degrees
[SIFT_MY] average descriptor distance between matched points: 0.342877 (random distance: 1.01904) => differentiability=0.336469
[       OK ] SIFT.Rotate20 (329 ms)
[ RUN      ] SIFT.Rotate30
[ORB_OCV] Points detected: 500 -> 500 (in 0.008831 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 0.080635 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 -> 475 (in 0.163433 sec)
[SIFT_MY] 335/416 (recall=0.805288) with average error=0.612804
[SIFT_MY] average size ratio between matched points: 1.04911
[SIFT_MY] average angle difference between matched points: 10.1993 degrees
[SIFT_MY] average descriptor distance between matched points: 0.338388 (random distance: 1.02678) => differentiability=0.329563
[       OK ] SIFT.Rotate30 (325 ms)
[ RUN      ] SIFT.Rotate40
[ORB_OCV] Points detected: 500 -> 500 (in 0.008779 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 0.076405 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 0.153703 sec)
[SIFT_MY] 317/412 (recall=0.769417) with average error=0.719608
[SIFT_MY] average size ratio between matched points: 1.07334
[SIFT_MY] average angle difference between matched points: 17.6078 degrees
[SIFT_MY] average descriptor distance between matched points: 0.347572 (random distance: 1.02692) => differentiability=0.338459
[       OK ] SIFT.Rotate40 (310 ms)
[ RUN      ] SIFT.Rotate45
[ORB_OCV] Points detected: 500 -> 500 (in 0.008734 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 0.077015 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 0.157944 sec)
[SIFT_MY] 327/408 (recall=0.801471) with average error=0.706708
[SIFT_MY] average size ratio between matched points: 1.05678
[SIFT_MY] average angle difference between matched points: 25.3112 degrees
[SIFT_MY] average descriptor distance between matched points: 0.341889 (random distance: 1.03285) => differentiability=0.331015
[       OK ] SIFT.Rotate45 (315 ms)
[ RUN      ] SIFT.Rotate90
[ORB_OCV] Points detected: 500 -> 500 (in 0.008698 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 0.076684 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 0.148262 sec)
[SIFT_MY] 372/410 (recall=0.907317) with average error=0.59937
[SIFT_MY] average size ratio between matched points: 0.995368
[SIFT_MY] average angle difference between matched points: 71.2032 degrees
[SIFT_MY] average descriptor distance between matched points: 0.186016 (random distance: 0.993765) => differentiability=0.187183
[       OK ] SIFT.Rotate90 (306 ms)
[ RUN      ] SIFT.Scale50
[ORB_OCV] Points detected: 500 -> 500 (in 0.008371 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 0.077998 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 -> 189 (in 0.12771 sec)
[SIFT_MY] 219/424 (recall=0.516509) with average error=1.91664
[SIFT_MY] average size ratio between matched points: 0.958111
[SIFT_MY] average angle difference between matched points: 2.79008 degrees
[SIFT_MY] average descriptor distance between matched points: 0.707494 (random distance: 1.03374) => differentiability=0.6844
[       OK ] SIFT.Scale50 (285 ms)
[ RUN      ] SIFT.Scale70
[ORB_OCV] Points detected: 500 -> 500 (in 0.00854 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 0.077696 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 0.140758 sec)
[SIFT_MY] 291/424 (recall=0.686321) with average error=1.227
[SIFT_MY] average size ratio between matched points: 0.967537
[SIFT_MY] average angle difference between matched points: -5.74811 degrees
[SIFT_MY] average descriptor distance between matched points: 0.540312 (random distance: 1.04333) => differentiability=0.517873
[       OK ] SIFT.Scale70 (298 ms)
[ RUN      ] SIFT.Scale90
[ORB_OCV] Points detected: 500 -> 500 (in 0.008725 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 0.07685 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 -> 433 (in 0.151663 sec)
[SIFT_MY] 336/424 (recall=0.792453) with average error=0.63214
[SIFT_MY] average size ratio between matched points: 1.00216
[SIFT_MY] average angle difference between matched points: -4.70409 degrees
[SIFT_MY] average descriptor distance between matched points: 0.402 (random distance: 1.01527) => differentiability=0.395955
[       OK ] SIFT.Scale90 (307 ms)
[ RUN      ] SIFT.Scale110
[ORB_OCV] Points detected: 500 -> 500 (in 0.008814 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 0.078111 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 0.159166 sec)
[SIFT_MY] 303/421 (recall=0.719715) with average error=0.573357
[SIFT_MY] average size ratio between matched points: 1.15583
[SIFT_MY] average angle difference between matched points: -6.024 degrees
[SIFT_MY] average descriptor distance between matched points: 0.407131 (random distance: 1.04292) => differentiability=0.390376
[       OK ] SIFT.Scale110 (317 ms)
[ RUN      ] SIFT.Scale130
[ORB_OCV] Points detected: 500 -> 500 (in 0.008912 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 0.078813 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 0.15995 sec)
[SIFT_MY] 237/402 (recall=0.589552) with average error=0.510281
[SIFT_MY] average size ratio between matched points: 1.37403
[SIFT_MY] average angle difference between matched points: -3.42532 degrees
[SIFT_MY] average descriptor distance between matched points: 0.358025 (random distance: 1.02827) => differentiability=0.348181
[       OK ] SIFT.Scale130 (321 ms)
[ RUN      ] SIFT.Scale150
[ORB_OCV] Points detected: 500 -> 500 (in 0.009906 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 0.082959 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 0.168262 sec)
[SIFT_MY] 191/380 (recall=0.502632) with average error=0.467175
[SIFT_MY] average size ratio between matched points: 1.54937
[SIFT_MY] average angle difference between matched points: -4.92089 degrees
[SIFT_MY] average descriptor distance between matched points: 0.366677 (random distance: 1.02934) => differentiability=0.356225
[       OK ] SIFT.Scale150 (337 ms)
[ RUN      ] SIFT.Scale175
[ORB_OCV] Points detected: 500 -> 500 (in 0.009495 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 0.082399 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 0.168141 sec)
[SIFT_MY] 162/351 (recall=0.461538) with average error=0.559394
[SIFT_MY] average size ratio between matched points: 1.78927
[SIFT_MY] average angle difference between matched points: 0.304827 degrees
[SIFT_MY] average descriptor distance between matched points: 0.427499 (random distance: 1.02992) => differentiability=0.415078
[       OK ] SIFT.Scale175 (335 ms)
[ RUN      ] SIFT.Scale200
[ORB_OCV] Points detected: 500 -> 500 (in 0.009402 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 0.083152 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 0.171715 sec)
[SIFT_MY] 153/320 (recall=0.478125) with average error=0.5504
[SIFT_MY] average size ratio between matched points: 2.02588
[SIFT_MY] average angle difference between matched points: -12.1815 degrees
[SIFT_MY] average descriptor distance between matched points: 0.316563 (random distance: 1.02903) => differentiability=0.307632
[       OK ] SIFT.Scale200 (340 ms)
[ RUN      ] SIFT.Rotate10Scale90
[ORB_OCV] Points detected: 500 -> 500 (in 0.00931 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 0.082033 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 -> 429 (in 0.15876 sec)
[SIFT_MY] 325/424 (recall=0.766509) with average error=0.622153
[SIFT_MY] average size ratio between matched points: 0.966587
[SIFT_MY] average angle difference between matched points: -0.901488 degrees
[SIFT_MY] average descriptor distance between matched points: 0.425668 (random distance: 1.0278) => differentiability=0.414157
[       OK ] SIFT.Rotate10Scale90 (322 ms)
[ RUN      ] SIFT.Rotate30Scale75
[ORB_OCV] Points detected: 500 -> 500 (in 0.009171 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 0.0817 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 -> 358 (in 0.148714 sec)
[SIFT_MY] 298/424 (recall=0.70283) with average error=1.026
[SIFT_MY] average size ratio between matched points: 1.00876
[SIFT_MY] average angle difference between matched points: 4.20252 degrees
[SIFT_MY] average descriptor distance between matched points: 0.49058 (random distance: 1.03564) => differentiability=0.473697
[       OK ] SIFT.Rotate30Scale75 (312 ms)
[ RUN      ] SIFT.HerzJesu19RotateM40
[ORB_OCV] Points detected: 500 -> 500 (in 0.090479 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 2.83739 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: 448 -> 476 (in 2.06284 sec)
[SIFT_MY] 367/424 (recall=0.865566) with average error=3.05515
[SIFT_MY] average size ratio between matched points: 1.01214
[SIFT_MY] average angle difference between matched points: -19.3438 degrees
[SIFT_MY] average descriptor distance between matched points: 0.42679 (random distance: 1.02444) => differentiability=0.416608
[       OK ] SIFT.HerzJesu19RotateM40 (6824 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: 2971 keypoints so far
octave 1: 3831 keypoints so far
octave 2: 3989 keypoints so far
octave 3: 4020 keypoints so far
octave 4: 4044 keypoints so far
octave 5: 4051 keypoints so far
octave 6: 4053 keypoints so far
octave 7: 4053 keypoints so far
total keypoints: 4053
orientations: 4053 -> 4829 keypoints
descriptors: 4829 -> 4739 keypoints (some discarded due to border)
[       OK ] SIFT.DetectionSmokeTest (3195 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 (908 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 7245, right 6270
Good matches:       1184
Inlier matches:     997
Final score: 997
[       OK ] SIFT.PairMatching (6096 ms)
[----------] 25 tests from SIFT (23668 ms total)

[----------] Global test environment tear-down
[==========] 25 tests from 1 test suite ran. (23668 ms total)
[  PASSED  ] 25 tests.

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mana8reak changed the title ~~add solution~~ Task01 Михаил Митрофанов ИТМО Feb 25, 2026

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Task01 Михаил Митрофанов ИТМО#4

Task01 Михаил Митрофанов ИТМО#4
mana8reak wants to merge 1 commit intoPhotogrammetryCourse:task01from
mana8reak:task01

mana8reak commented Feb 25, 2026 •

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mana8reak commented Feb 25, 2026 •

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