77 lines
2.3 KiB
JavaScript
77 lines
2.3 KiB
JavaScript
|
'use strict';
|
||
|
|
|
||
|
|
var tracking = require('./utils/sandbox.js');
|
||
|
|
|
||
|
|
module.exports = {
|
||
|
|
setUp: function(done) {
|
||
|
|
done();
|
||
|
|
},
|
||
|
|
|
||
|
|
tearDown: function(done) {
|
||
|
|
done();
|
||
|
|
},
|
||
|
|
|
||
|
|
// TODO: Update this test to generate randomWindowOffsets_ and randomImageOffsets_ instead.
|
||
|
|
testGetDescriptors: function(test) {
|
||
|
|
var descriptors;
|
||
|
|
var descriptorsPerKeypoint = tracking.Brief.N / 32;
|
||
|
|
var grayScale = [
|
||
|
|
0, 0, 1, 0, 0, 0,
|
||
|
|
1, 9, 0, 9, 1, 0,
|
||
|
|
0, 1, 1, 1, 0, 0
|
||
|
|
];
|
||
|
|
var repeat = [-7, 7, -6, 6, -5, 5, -1, 1];
|
||
|
|
var width = 6;
|
||
|
|
|
||
|
|
// Write the offsets manually, as we can't verify results that are obtained randomly.
|
||
|
|
tracking.Brief.randomImageOffsets_[width] = [];
|
||
|
|
for (var i = 0; i < tracking.Brief.N; i++) {
|
||
|
|
var position = i % 4;
|
||
|
|
tracking.Brief.randomImageOffsets_[width].push(repeat[position * 2], repeat[position * 2 + 1]);
|
||
|
|
}
|
||
|
|
|
||
|
|
descriptors = tracking.Brief.getDescriptors(grayScale, width, [1, 1, 3, 1]);
|
||
|
|
|
||
|
|
test.equal(2 * descriptorsPerKeypoint, descriptors.length, 'There should be 8 descriptor words');
|
||
|
|
|
||
|
|
for (var j = 0; j < descriptorsPerKeypoint; j++) {
|
||
|
|
test.equal(858993459, descriptors[j], 'Descriptor should be 858993459');
|
||
|
|
}
|
||
|
|
for (var k = descriptorsPerKeypoint; k < 2 * descriptorsPerKeypoint; k++) {
|
||
|
|
test.equal(-286331154, descriptors[k], 'Descriptor should be -286331154');
|
||
|
|
}
|
||
|
|
|
||
|
|
test.done();
|
||
|
|
},
|
||
|
|
|
||
|
|
testGetMatchings: function(test) {
|
||
|
|
var descriptors1;
|
||
|
|
var descriptors2;
|
||
|
|
var grayScale1 = [
|
||
|
|
0, 0, 1, 0, 0, 0,
|
||
|
|
1, 9, 0, 9, 1, 0,
|
||
|
|
0, 1, 1, 1, 0, 0
|
||
|
|
];
|
||
|
|
var grayScale2 = [
|
||
|
|
0, 0, 0, 1, 0, 0,
|
||
|
|
0, 1, 9, 0, 9, 1,
|
||
|
|
0, 0, 1, 1, 1, 0
|
||
|
|
];
|
||
|
|
var keypoints1 = [1, 1, 3, 1];
|
||
|
|
var keypoints2 = [4, 1, 2, 1];
|
||
|
|
var matchings;
|
||
|
|
var width = 6;
|
||
|
|
|
||
|
|
descriptors1 = tracking.Brief.getDescriptors(grayScale1, width, keypoints1);
|
||
|
|
descriptors2 = tracking.Brief.getDescriptors(grayScale2, width, keypoints2);
|
||
|
|
|
||
|
|
matchings = tracking.Brief.match(keypoints1, descriptors1, keypoints2, descriptors2);
|
||
|
|
|
||
|
|
test.equal(2, matchings.length, 'There should be 2 matchings');
|
||
|
|
test.equal(1, matchings[0].index2, 'Keypoint 0 from 1st array should match keypoint 1 from the 2nd');
|
||
|
|
test.equal(0, matchings[1].index2, 'Keypoint 1 from 1st array should match keypoint 0 from the 2nd');
|
||
|
|
|
||
|
|
test.done();
|
||
|
|
}
|
||
|
|
};
|