opencv/modules/gpu/test/test_calib3d.cpp

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/*M///////////////////////////////////////////////////////////////////////////////////////
//
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//
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#include "precomp.hpp"
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#ifdef HAVE_CUDA
using namespace cvtest;
using namespace testing;
//////////////////////////////////////////////////////////////////////////
// BlockMatching
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struct StereoBlockMatching : TestWithParam<cv::gpu::DeviceInfo>
{
cv::Mat img_l;
cv::Mat img_r;
cv::Mat img_template;
cv::gpu::DeviceInfo devInfo;
virtual void SetUp()
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{
devInfo = GetParam();
cv::gpu::setDevice(devInfo.deviceID());
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img_l = readImage("stereobm/aloe-L.png", CV_LOAD_IMAGE_GRAYSCALE);
img_r = readImage("stereobm/aloe-R.png", CV_LOAD_IMAGE_GRAYSCALE);
img_template = readImage("stereobm/aloe-disp.png", CV_LOAD_IMAGE_GRAYSCALE);
ASSERT_FALSE(img_l.empty());
ASSERT_FALSE(img_r.empty());
ASSERT_FALSE(img_template.empty());
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}
};
TEST_P(StereoBlockMatching, Regression)
{
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cv::Mat disp;
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cv::gpu::GpuMat dev_disp;
cv::gpu::StereoBM_GPU bm(0, 128, 19);
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bm(cv::gpu::GpuMat(img_l), cv::gpu::GpuMat(img_r), dev_disp);
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dev_disp.download(disp);
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disp.convertTo(disp, img_template.type());
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EXPECT_MAT_NEAR(img_template, disp, 0.0);
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}
INSTANTIATE_TEST_CASE_P(Calib3D, StereoBlockMatching, ALL_DEVICES);
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//////////////////////////////////////////////////////////////////////////
// BeliefPropagation
struct StereoBeliefPropagation : TestWithParam<cv::gpu::DeviceInfo>
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{
cv::Mat img_l;
cv::Mat img_r;
cv::Mat img_template;
cv::gpu::DeviceInfo devInfo;
virtual void SetUp()
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{
devInfo = GetParam();
cv::gpu::setDevice(devInfo.deviceID());
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img_l = readImage("stereobp/aloe-L.png");
img_r = readImage("stereobp/aloe-R.png");
img_template = readImage("stereobp/aloe-disp.png", CV_LOAD_IMAGE_GRAYSCALE);
ASSERT_FALSE(img_l.empty());
ASSERT_FALSE(img_r.empty());
ASSERT_FALSE(img_template.empty());
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}
};
TEST_P(StereoBeliefPropagation, Regression)
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{
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cv::Mat disp;
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cv::gpu::GpuMat dev_disp;
cv::gpu::StereoBeliefPropagation bpm(64, 8, 2, 25, 0.1f, 15, 1, CV_16S);
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bpm(cv::gpu::GpuMat(img_l), cv::gpu::GpuMat(img_r), dev_disp);
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dev_disp.download(disp);
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disp.convertTo(disp, img_template.type());
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EXPECT_MAT_NEAR(img_template, disp, 0.0);
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}
INSTANTIATE_TEST_CASE_P(Calib3D, StereoBeliefPropagation, ALL_DEVICES);
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//////////////////////////////////////////////////////////////////////////
// ConstantSpaceBP
struct StereoConstantSpaceBP : TestWithParam<cv::gpu::DeviceInfo>
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{
cv::Mat img_l;
cv::Mat img_r;
cv::Mat img_template;
cv::gpu::DeviceInfo devInfo;
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virtual void SetUp()
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{
devInfo = GetParam();
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cv::gpu::setDevice(devInfo.deviceID());
img_l = readImage("csstereobp/aloe-L.png");
img_r = readImage("csstereobp/aloe-R.png");
if (supportFeature(devInfo, cv::gpu::FEATURE_SET_COMPUTE_20))
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img_template = readImage("csstereobp/aloe-disp.png", CV_LOAD_IMAGE_GRAYSCALE);
else
img_template = readImage("csstereobp/aloe-disp_CC1X.png", CV_LOAD_IMAGE_GRAYSCALE);
ASSERT_FALSE(img_l.empty());
ASSERT_FALSE(img_r.empty());
ASSERT_FALSE(img_template.empty());
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}
};
TEST_P(StereoConstantSpaceBP, Regression)
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{
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cv::Mat disp;
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cv::gpu::GpuMat dev_disp;
cv::gpu::StereoConstantSpaceBP bpm(128, 16, 4, 4);
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bpm(cv::gpu::GpuMat(img_l), cv::gpu::GpuMat(img_r), dev_disp);
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dev_disp.download(disp);
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disp.convertTo(disp, img_template.type());
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EXPECT_MAT_NEAR(img_template, disp, 1.0);
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}
INSTANTIATE_TEST_CASE_P(Calib3D, StereoConstantSpaceBP, ALL_DEVICES);
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///////////////////////////////////////////////////////////////////////////////////////////////////////
// projectPoints
struct ProjectPoints : TestWithParam<cv::gpu::DeviceInfo>
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{
cv::gpu::DeviceInfo devInfo;
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cv::Mat src;
cv::Mat rvec;
cv::Mat tvec;
cv::Mat camera_mat;
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std::vector<cv::Point2f> dst_gold;
virtual void SetUp()
{
devInfo = GetParam();
cv::gpu::setDevice(devInfo.deviceID());
cv::RNG& rng = cvtest::TS::ptr()->get_rng();
src = cvtest::randomMat(rng, cv::Size(1000, 1), CV_32FC3, 0, 10, false);
rvec = cvtest::randomMat(rng, cv::Size(3, 1), CV_32F, 0, 1, false);
tvec = cvtest::randomMat(rng, cv::Size(3, 1), CV_32F, 0, 1, false);
camera_mat = cvtest::randomMat(rng, cv::Size(3, 3), CV_32F, 0, 1, false);
camera_mat.at<float>(0, 1) = 0.f;
camera_mat.at<float>(1, 0) = 0.f;
camera_mat.at<float>(2, 0) = 0.f;
camera_mat.at<float>(2, 1) = 0.f;
cv::projectPoints(src, rvec, tvec, camera_mat, cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)), dst_gold);
}
};
TEST_P(ProjectPoints, Accuracy)
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{
cv::Mat dst;
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cv::gpu::GpuMat d_dst;
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cv::gpu::projectPoints(cv::gpu::GpuMat(src), rvec, tvec, camera_mat, cv::Mat(), d_dst);
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d_dst.download(dst);
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ASSERT_EQ(dst_gold.size(), static_cast<size_t>(dst.cols));
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ASSERT_EQ(1, dst.rows);
ASSERT_EQ(CV_32FC2, dst.type());
for (size_t i = 0; i < dst_gold.size(); ++i)
{
cv::Point2f res_gold = dst_gold[i];
cv::Point2f res_actual = dst.at<cv::Point2f>(0, i);
cv::Point2f err = res_actual - res_gold;
ASSERT_LE(err.dot(err) / res_gold.dot(res_gold), 1e-3f);
}
}
INSTANTIATE_TEST_CASE_P(Calib3D, ProjectPoints, ALL_DEVICES);
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///////////////////////////////////////////////////////////////////////////////////////////////////////
// transformPoints
struct TransformPoints : TestWithParam<cv::gpu::DeviceInfo>
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{
cv::gpu::DeviceInfo devInfo;
cv::Mat src;
cv::Mat rvec;
cv::Mat tvec;
cv::Mat rot;
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virtual void SetUp()
{
devInfo = GetParam();
cv::gpu::setDevice(devInfo.deviceID());
cv::RNG& rng = cvtest::TS::ptr()->get_rng();
src = cvtest::randomMat(rng, cv::Size(1000, 1), CV_32FC3, 0, 10, false);
rvec = cvtest::randomMat(rng, cv::Size(3, 1), CV_32F, 0, 1, false);
tvec = cvtest::randomMat(rng, cv::Size(3, 1), CV_32F, 0, 1, false);
cv::Rodrigues(rvec, rot);
}
};
TEST_P(TransformPoints, Accuracy)
{
cv::Mat dst;
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cv::gpu::GpuMat d_dst;
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cv::gpu::transformPoints(cv::gpu::GpuMat(src), rvec, tvec, d_dst);
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d_dst.download(dst);
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ASSERT_EQ(src.size(), dst.size());
ASSERT_EQ(src.type(), dst.type());
for (int i = 0; i < dst.cols; ++i)
{
cv::Point3f p = src.at<cv::Point3f>(0, i);
cv::Point3f res_gold(
rot.at<float>(0, 0) * p.x + rot.at<float>(0, 1) * p.y + rot.at<float>(0, 2) * p.z + tvec.at<float>(0, 0),
rot.at<float>(1, 0) * p.x + rot.at<float>(1, 1) * p.y + rot.at<float>(1, 2) * p.z + tvec.at<float>(0, 1),
rot.at<float>(2, 0) * p.x + rot.at<float>(2, 1) * p.y + rot.at<float>(2, 2) * p.z + tvec.at<float>(0, 2));
cv::Point3f res_actual = dst.at<cv::Point3f>(0, i);
cv::Point3f err = res_actual - res_gold;
ASSERT_LE(err.dot(err) / res_gold.dot(res_gold), 1e-3f);
}
}
INSTANTIATE_TEST_CASE_P(Calib3D, TransformPoints, ALL_DEVICES);
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///////////////////////////////////////////////////////////////////////////////////////////////////////
// solvePnPRansac
struct SolvePnPRansac : TestWithParam<cv::gpu::DeviceInfo>
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{
static const int num_points = 5000;
cv::gpu::DeviceInfo devInfo;
cv::Mat object;
cv::Mat camera_mat;
std::vector<cv::Point2f> image_vec;
cv::Mat rvec_gold;
cv::Mat tvec_gold;
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virtual void SetUp()
{
devInfo = GetParam();
cv::gpu::setDevice(devInfo.deviceID());
cv::RNG& rng = cvtest::TS::ptr()->get_rng();
object = cvtest::randomMat(rng, cv::Size(num_points, 1), CV_32FC3, 0, 100, false);
camera_mat = cvtest::randomMat(rng, cv::Size(3, 3), CV_32F, 0.5, 1, false);
camera_mat.at<float>(0, 1) = 0.f;
camera_mat.at<float>(1, 0) = 0.f;
camera_mat.at<float>(2, 0) = 0.f;
camera_mat.at<float>(2, 1) = 0.f;
rvec_gold = cvtest::randomMat(rng, cv::Size(3, 1), CV_32F, 0, 1, false);
tvec_gold = cvtest::randomMat(rng, cv::Size(3, 1), CV_32F, 0, 1, false);
cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)), image_vec);
}
};
TEST_P(SolvePnPRansac, Accuracy)
{
cv::Mat rvec, tvec;
std::vector<int> inliers;
cv::gpu::solvePnPRansac(object, cv::Mat(1, image_vec.size(), CV_32FC2, &image_vec[0]), camera_mat,
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cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)), rvec, tvec, false, 200, 2.f, 100, &inliers);
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ASSERT_LE(cv::norm(rvec - rvec_gold), 1e-3f);
ASSERT_LE(cv::norm(tvec - tvec_gold), 1e-3f);
}
INSTANTIATE_TEST_CASE_P(Calib3D, SolvePnPRansac, ALL_DEVICES);
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#endif // HAVE_CUDA