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fixed gpu::filter2D border interpolation for CV_32FC1 type

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added additional tests for gpu filters
fixed gpu features2D tests
This commit is contained in:
Vladislav Vinogradov
2012-03-21 14:38:23 +00:00
parent c1a6cb6221
commit 059cef57e6
16 changed files with 1730 additions and 1515 deletions
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326
modules/gpu/test/test_calib3d.cpp
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@@ -41,20 +41,13 @@
#include "precomp.hpp"
#ifdef HAVE_CUDA
using namespace cvtest;
using namespace testing;
namespace {
//////////////////////////////////////////////////////////////////////////
// BlockMatching
// StereoBM
struct StereoBlockMatching : TestWithParam<cv::gpu::DeviceInfo>
struct StereoBM : testing::TestWithParam<cv::gpu::DeviceInfo>
{
cv::Mat img_l;
cv::Mat img_r;
cv::Mat img_template;
cv::gpu::DeviceInfo devInfo;
virtual void SetUp()
@@ -62,44 +55,34 @@ struct StereoBlockMatching : TestWithParam<cv::gpu::DeviceInfo>
devInfo = GetParam();
cv::gpu::setDevice(devInfo.deviceID());
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());
}
};
TEST_P(StereoBlockMatching, Regression)
TEST_P(StereoBM, Regression)
{
cv::Mat disp;
cv::Mat left_image = readImage("stereobm/aloe-L.png", cv::IMREAD_GRAYSCALE);
cv::Mat right_image = readImage("stereobm/aloe-R.png", cv::IMREAD_GRAYSCALE);
cv::Mat disp_gold = readImage("stereobm/aloe-disp.png", cv::IMREAD_GRAYSCALE);
ASSERT_FALSE(left_image.empty());
ASSERT_FALSE(right_image.empty());
ASSERT_FALSE(disp_gold.empty());
cv::gpu::GpuMat dev_disp;
cv::gpu::StereoBM_GPU bm(0, 128, 19);
cv::gpu::GpuMat disp;
bm(cv::gpu::GpuMat(img_l), cv::gpu::GpuMat(img_r), dev_disp);
bm(loadMat(left_image), loadMat(right_image), disp);
dev_disp.download(disp);
disp.convertTo(disp, img_template.type());
EXPECT_MAT_NEAR(img_template, disp, 0.0);
EXPECT_MAT_NEAR(disp_gold, disp, 0.0);
}
INSTANTIATE_TEST_CASE_P(Calib3D, StereoBlockMatching, ALL_DEVICES);
INSTANTIATE_TEST_CASE_P(GPU_Calib3D, StereoBM, ALL_DEVICES);
//////////////////////////////////////////////////////////////////////////
// BeliefPropagation
// StereoBeliefPropagation
struct StereoBeliefPropagation : TestWithParam<cv::gpu::DeviceInfo>
struct StereoBeliefPropagation : testing::TestWithParam<cv::gpu::DeviceInfo>
{
cv::Mat img_l;
cv::Mat img_r;
cv::Mat img_template;
cv::gpu::DeviceInfo devInfo;
virtual void SetUp()
@@ -107,44 +90,37 @@ struct StereoBeliefPropagation : TestWithParam<cv::gpu::DeviceInfo>
devInfo = GetParam();
cv::gpu::setDevice(devInfo.deviceID());
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());
}
};
TEST_P(StereoBeliefPropagation, Regression)
{
cv::Mat disp;
cv::Mat left_image = readImage("stereobp/aloe-L.png");
cv::Mat right_image = readImage("stereobp/aloe-R.png");
cv::Mat disp_gold = readImage("stereobp/aloe-disp.png", cv::IMREAD_GRAYSCALE);
cv::gpu::GpuMat dev_disp;
cv::gpu::StereoBeliefPropagation bpm(64, 8, 2, 25, 0.1f, 15, 1, CV_16S);
ASSERT_FALSE(left_image.empty());
ASSERT_FALSE(right_image.empty());
ASSERT_FALSE(disp_gold.empty());
bpm(cv::gpu::GpuMat(img_l), cv::gpu::GpuMat(img_r), dev_disp);
cv::gpu::StereoBeliefPropagation bp(64, 8, 2, 25, 0.1f, 15, 1, CV_16S);
cv::gpu::GpuMat disp;
dev_disp.download(disp);
bp(loadMat(left_image), loadMat(right_image), disp);
disp.convertTo(disp, img_template.type());
cv::Mat h_disp(disp);
h_disp.convertTo(h_disp, disp_gold.depth());
EXPECT_MAT_NEAR(img_template, disp, 0.0);
EXPECT_MAT_NEAR(disp_gold, h_disp, 0.0);
}
INSTANTIATE_TEST_CASE_P(Calib3D, StereoBeliefPropagation, ALL_DEVICES);
INSTANTIATE_TEST_CASE_P(GPU_Calib3D, StereoBeliefPropagation, ALL_DEVICES);
//////////////////////////////////////////////////////////////////////////
// ConstantSpaceBP
// StereoConstantSpaceBP
struct StereoConstantSpaceBP : TestWithParam<cv::gpu::DeviceInfo>
struct StereoConstantSpaceBP : testing::TestWithParam<cv::gpu::DeviceInfo>
{
cv::Mat img_l;
cv::Mat img_r;
cv::Mat img_template;
cv::gpu::DeviceInfo devInfo;
virtual void SetUp()
@@ -152,207 +128,177 @@ struct StereoConstantSpaceBP : TestWithParam<cv::gpu::DeviceInfo>
devInfo = GetParam();
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))
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());
}
};
TEST_P(StereoConstantSpaceBP, Regression)
{
cv::Mat disp;
cv::Mat left_image = readImage("csstereobp/aloe-L.png");
cv::Mat right_image = readImage("csstereobp/aloe-R.png");
cv::gpu::GpuMat dev_disp;
cv::gpu::StereoConstantSpaceBP bpm(128, 16, 4, 4);
cv::Mat disp_gold;
bpm(cv::gpu::GpuMat(img_l), cv::gpu::GpuMat(img_r), dev_disp);
if (supportFeature(devInfo, cv::gpu::FEATURE_SET_COMPUTE_20))
disp_gold = readImage("csstereobp/aloe-disp.png", cv::IMREAD_GRAYSCALE);
else
disp_gold = readImage("csstereobp/aloe-disp_CC1X.png", cv::IMREAD_GRAYSCALE);
dev_disp.download(disp);
ASSERT_FALSE(left_image.empty());
ASSERT_FALSE(right_image.empty());
ASSERT_FALSE(disp_gold.empty());
disp.convertTo(disp, img_template.type());
cv::gpu::StereoConstantSpaceBP csbp(128, 16, 4, 4);
cv::gpu::GpuMat disp;
EXPECT_MAT_NEAR(img_template, disp, 1.0);
csbp(loadMat(left_image), loadMat(right_image), disp);
cv::Mat h_disp(disp);
h_disp.convertTo(h_disp, disp_gold.depth());
EXPECT_MAT_NEAR(disp_gold, h_disp, 1.0);
}
INSTANTIATE_TEST_CASE_P(Calib3D, StereoConstantSpaceBP, ALL_DEVICES);
///////////////////////////////////////////////////////////////////////////////////////////////////////
// projectPoints
struct ProjectPoints : TestWithParam<cv::gpu::DeviceInfo>
{
cv::gpu::DeviceInfo devInfo;
cv::Mat src;
cv::Mat rvec;
cv::Mat tvec;
cv::Mat camera_mat;
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)
{
cv::Mat dst;
cv::gpu::GpuMat d_dst;
cv::gpu::projectPoints(cv::gpu::GpuMat(src), rvec, tvec, camera_mat, cv::Mat(), d_dst);
d_dst.download(dst);
ASSERT_EQ(dst_gold.size(), static_cast<size_t>(dst.cols));
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);
INSTANTIATE_TEST_CASE_P(GPU_Calib3D, StereoConstantSpaceBP, ALL_DEVICES);
///////////////////////////////////////////////////////////////////////////////////////////////////////
// transformPoints
struct TransformPoints : TestWithParam<cv::gpu::DeviceInfo>
struct TransformPoints : testing::TestWithParam<cv::gpu::DeviceInfo>
{
cv::gpu::DeviceInfo devInfo;
cv::Mat src;
cv::Mat rvec;
cv::Mat tvec;
cv::Mat rot;
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;
cv::Mat src = randomMat(cv::Size(1000, 1), CV_32FC3, 0, 10);
cv::Mat rvec = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
cv::Mat tvec = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
cv::gpu::GpuMat d_dst;
cv::gpu::transformPoints(cv::gpu::GpuMat(src), rvec, tvec, d_dst);
d_dst.download(dst);
cv::gpu::GpuMat dst;
cv::gpu::transformPoints(loadMat(src), rvec, tvec, dst);
ASSERT_EQ(src.size(), dst.size());
ASSERT_EQ(src.type(), dst.type());
for (int i = 0; i < dst.cols; ++i)
cv::Mat h_dst(dst);
cv::Mat rot;
cv::Rodrigues(rvec, rot);
for (int i = 0; i < h_dst.cols; ++i)
{
cv::Point3f res = h_dst.at<cv::Point3f>(0, 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);
ASSERT_POINT3_NEAR(res_gold, res, 1e-5);
}
}
INSTANTIATE_TEST_CASE_P(Calib3D, TransformPoints, ALL_DEVICES);
INSTANTIATE_TEST_CASE_P(GPU_Calib3D, TransformPoints, ALL_DEVICES);
///////////////////////////////////////////////////////////////////////////////////////////////////////
// solvePnPRansac
// ProjectPoints
struct SolvePnPRansac : TestWithParam<cv::gpu::DeviceInfo>
struct ProjectPoints : testing::TestWithParam<cv::gpu::DeviceInfo>
{
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;
virtual void SetUp()
{
devInfo = GetParam();
cv::gpu::setDevice(devInfo.deviceID());
}
};
cv::RNG& rng = cvtest::TS::ptr()->get_rng();
TEST_P(ProjectPoints, Accuracy)
{
cv::Mat src = randomMat(cv::Size(1000, 1), CV_32FC3, 0, 10);
cv::Mat rvec = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
cv::Mat tvec = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
cv::Mat camera_mat = randomMat(cv::Size(3, 3), CV_32F, 0.5, 1);
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;
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;
cv::gpu::GpuMat dst;
cv::gpu::projectPoints(loadMat(src), rvec, tvec, camera_mat, cv::Mat(), dst);
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);
ASSERT_EQ(1, dst.rows);
ASSERT_EQ(MatType(CV_32FC2), MatType(dst.type()));
cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)), image_vec);
std::vector<cv::Point2f> dst_gold;
cv::projectPoints(src, rvec, tvec, camera_mat, cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)), dst_gold);
ASSERT_EQ(dst_gold.size(), static_cast<size_t>(dst.cols));
cv::Mat h_dst(dst);
for (size_t i = 0; i < dst_gold.size(); ++i)
{
cv::Point2f res = h_dst.at<cv::Point2f>(0, i);
cv::Point2f res_gold = dst_gold[i];
ASSERT_LE(cv::norm(res_gold - res) / cv::norm(res_gold), 1e-3f);
}
}
INSTANTIATE_TEST_CASE_P(GPU_Calib3D, ProjectPoints, ALL_DEVICES);
///////////////////////////////////////////////////////////////////////////////////////////////////////
// SolvePnPRansac
struct SolvePnPRansac : testing::TestWithParam<cv::gpu::DeviceInfo>
{
cv::gpu::DeviceInfo devInfo;
virtual void SetUp()
{
devInfo = GetParam();
cv::gpu::setDevice(devInfo.deviceID());
}
};
TEST_P(SolvePnPRansac, Accuracy)
{
cv::Mat object = randomMat(cv::Size(5000, 1), CV_32FC3, 0, 100);
cv::Mat camera_mat = randomMat(cv::Size(3, 3), CV_32F, 0.5, 1);
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;
std::vector<cv::Point2f> image_vec;
cv::Mat rvec_gold;
cv::Mat tvec_gold;
rvec_gold = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
tvec_gold = randomMat(cv::Size(3, 1), CV_32F, 0, 1);
cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)), image_vec);
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, cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)),
rvec, tvec, false, 200, 2.f, 100, &inliers);
cv::gpu::solvePnPRansac(object, cv::Mat(1, image_vec.size(), CV_32FC2, &image_vec[0]), camera_mat,
cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)), rvec, tvec, false, 200, 2.f, 100, &inliers);
ASSERT_LE(cv::norm(rvec - rvec_gold), 1e-3f);
ASSERT_LE(cv::norm(tvec - tvec_gold), 1e-3f);
ASSERT_LE(cv::norm(rvec - rvec_gold), 1e-3);
ASSERT_LE(cv::norm(tvec - tvec_gold), 1e-3);
}
INSTANTIATE_TEST_CASE_P(Calib3D, SolvePnPRansac, ALL_DEVICES);
INSTANTIATE_TEST_CASE_P(GPU_Calib3D, SolvePnPRansac, ALL_DEVICES);
#endif // HAVE_CUDA
} // namespace