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[WIP] Task01 Лимонов Алексей ИТМО #9

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[WIP] Task01 Лимонов Алексей ИТМО #9
Olex1313 wants to merge 1 commit intoPhotogrammetryCourse:task01from
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@Olex1313 Olex1313 commented Feb 27, 2026 •
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Пока чиню скор - инкерементальный блюр делает хуже почему-то

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

Если пойти от кода и посмотреть на что параметр влияет, то чем больше мы его будем раскручивать тем меньше у нас будет точек из которых мы выбираем, а если у нас будет большой порог - вроде мы и точек закинем сильно меньше, но и перестанем брать неоднозначные точки которые потом могут позитивно повлиять на наш подбор

Если прям покрутить то начнем падать пороге кол-ва найденых точек после искажения

/Users/aalim/Documents/github/PhotogrammetryTasks2026/tests/test_sift.cpp:933: Failure
Expected: (data.nmatches) >= (thresh * data_cv.nmatches), actual: 829 vs 937.6
  1. 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?

Я вообще пошел с того что в тестах закомментил #pragma omp parallel и запустил с time

time...
./build/test_sift  14.83s user 1.14s system 138% cpu 11.515 total // с прагмой
./build/test_sift  14.76s user 1.11s system 134% cpu 11.844 total // без ???

Прям честно замерять - надо править код в тестах и замерять только секцию с вызовом detectAndCompute

Что же про потоки:

$ /usr/sbin/sysctl -a machdep.cpu 
machdep.cpu.cores_per_package: 12
machdep.cpu.core_count: 12
machdep.cpu.logical_per_package: 12
machdep.cpu.thread_count: 12
machdep.cpu.brand_string: Apple M2 Pro
  1. 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?

Правда, я думаю что они не 1в1 совпадут по значениям внутри, ввиду округлений/ошибок и тд, но визуальной разницы я не увидел.

  1. 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?

Ожидание - картинки будут блюррится все больше и больше от нулевого слоя к N-ному, визуально это очень наглядно (например сравнить как заблюрилло мышь в data/debug/test_sift/debug/pyramid/02_octave_3_layer_0.png и data/debug/test_sift/debug/pyramid/02_octave_3_layer_7.png)

Для сравнения можно поресайзить и вычесть одну из другой (например)

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

Для поиска экстремума дальше нужно чтобы у каждого слоя был слой сверху и снизу, а ещё нужен +1 слой для составления DoG

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

Чем большая октава/слой тем больше мелких деталей мы упускаем + более контрастными пятнами выделяются фичи - чем дальше тем меньше маленьких фичей мы соответственно увидим (например кабель под батареей на картинке с мышью есть на меньших, а дальше он будет пропадать)

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

Кажется если мы не будем его уменьшать, то мы просто перестанем проходить порог тк val это разница слоев и если мы сделаем кратно больше слоев то разница между ними будет меньше -> мы будем откидывать точки -> нам надо пропорционально снижать порог

Комментарий в коде намекает)

    // чем больше слоев в октаве, тем меньше разница между ними -> компенсируем порог
    const float thresh = (float)(contrast_threshold / s);
  1. 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; // цитата из lowe: "Each sample added to the histogram is weighted by its gradient magnitude and by a Gaussian-weighted circular window with a σ that is 1.5 times that of the scale of the keypoint."
  1. За какой строки вашего кода дескриптор инвариантен к повороту картинки?
float angle_invariant = angle - kp_angle_rad;
Github Actions CI

$ ./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 0.01074 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 0.08453 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 0.174322 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 (340 ms)
[ RUN      ] SIFT.MovedImageRight
[ORB_OCV] Points detected: 500 -> 500 (in 0.009453 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 0.074738 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 0.169685 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 (323 ms)
[ RUN      ] SIFT.MovedImageLeft
[ORB_OCV] Points detected: 500 -> 500 (in 0.00948 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 0.084445 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 0.167264 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 (331 ms)
[ RUN      ] SIFT.MovedImageUpHalfPixel
[ORB_OCV] Points detected: 500 -> 500 (in 0.009387 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 0.075968 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 0.174838 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 (331 ms)
[ RUN      ] SIFT.MovedImageDownHalfPixel
[ORB_OCV] Points detected: 500 -> 500 (in 0.009331 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 0.075882 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 0.173169 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 (329 ms)
[ RUN      ] SIFT.Rotate10
[ORB_OCV] Points detected: 500 -> 500 (in 0.009604 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 0.075585 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 0.174438 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 (330 ms)
[ RUN      ] SIFT.Rotate20
[ORB_OCV] Points detected: 500 -> 500 (in 0.009411 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 0.0762 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 0.179064 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 (336 ms)
[ RUN      ] SIFT.Rotate30
[ORB_OCV] Points detected: 500 -> 500 (in 0.009474 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 0.079394 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 0.175075 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 (334 ms)
[ RUN      ] SIFT.Rotate40
[ORB_OCV] Points detected: 500 -> 500 (in 0.009439 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 0.074703 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 0.173367 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 (328 ms)
[ RUN      ] SIFT.Rotate45
[ORB_OCV] Points detected: 500 -> 500 (in 0.008739 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 0.075772 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 0.175877 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 (331 ms)
[ RUN      ] SIFT.Rotate90
[ORB_OCV] Points detected: 500 -> 500 (in 0.008688 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 0.07518 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 0.166093 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 (320 ms)
[ RUN      ] SIFT.Scale50
[ORB_OCV] Points detected: 500 -> 500 (in 0.008424 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 0.071597 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 0.135818 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 (285 ms)
[ RUN      ] SIFT.Scale70
[ORB_OCV] Points detected: 500 -> 500 (in 0.008458 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 0.073788 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 0.151544 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 (304 ms)
[ RUN      ] SIFT.Scale90
[ORB_OCV] Points detected: 500 -> 500 (in 0.008773 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 0.077445 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 0.169671 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 (325 ms)
[ RUN      ] SIFT.Scale110
[ORB_OCV] Points detected: 500 -> 500 (in 0.008769 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 0.076438 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: 1.13855 degrees
[SIFTOCV] average descriptor distance between matched points: 182.143 (random distance: 530.492) => differentiability=0.343347
[SIFT_MY] Points detected: 424 -> 493 (in 0.175285 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 (331 ms)
[ RUN      ] SIFT.Scale130
[ORB_OCV] Points detected: 500 -> 500 (in 0.008725 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 0.082781 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 0.180609 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 (348 ms)
[ RUN      ] SIFT.Scale150
[ORB_OCV] Points detected: 500 -> 500 (in 0.0089 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 0.078537 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 0.178728 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 (338 ms)
[ RUN      ] SIFT.Scale175
[ORB_OCV] Points detected: 500 -> 500 (in 0.008914 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 0.078714 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 0.177574 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: 0.536876 degrees
[SIFT_MY] average descriptor distance between matched points: 0.423642 (random distance: 1.03122) => differentiability=0.410814
[       OK ] SIFT.Scale175 (338 ms)
[ RUN      ] SIFT.Scale200
[ORB_OCV] Points detected: 500 -> 500 (in 0.009014 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 0.080262 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 0.181475 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 (344 ms)
[ RUN      ] SIFT.Rotate10Scale90
[ORB_OCV] Points detected: 500 -> 500 (in 0.008807 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 0.077018 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 0.169263 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: -0.792507 degrees
[SIFT_MY] average descriptor distance between matched points: 0.427394 (random distance: 1.03031) => differentiability=0.414819
[       OK ] SIFT.Rotate10Scale90 (325 ms)
[ RUN      ] SIFT.Rotate30Scale75
[ORB_OCV] Points detected: 500 -> 500 (in 0.00868 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 0.075118 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 0.157844 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 (312 ms)
[ RUN      ] SIFT.HerzJesu19RotateM40
[ORB_OCV] Points detected: 500 -> 500 (in 0.097667 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 2.54556 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 2.38191 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 (6931 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 (3395 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 (887 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 (6527 ms)
[----------] 25 tests from SIFT (24623 ms total)

[----------] Global test environment tear-down
[==========] 25 tests from 1 test suite ran. (24623 ms total)
[  PASSED  ] 25 tests.

simiyutin
simiyutin reviewed Feb 28, 2026
View reviewed changes
src/phg/sift/sift.cpp
// TODO uncomment
// int idx = (iy_nearest * n_spatial_bins + ix_nearest) * n_orient_bins + io_nearest;
// desc[idx] += weighted_mag;
// done uncomment :)
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@Olex1313 @simiyutin