Added Kalman Filter of OpenCL version.
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Jin Ma
147
modules/ocl/test/test_kalman.cpp
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147
modules/ocl/test/test_kalman.cpp
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///////////////////////////////////////////////////////////////////////////////////////
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//
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// IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING.
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//
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// By downloading, copying, installing or using the software you agree to this license.
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// If you do not agree to this license, do not download, install,
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// copy or use the software.
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//
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//
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// License Agreement
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// For Open Source Computer Vision Library
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// Copyright (C) 2010-2012, Multicoreware, Inc., all rights reserved.
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// Copyright (C) 2010-2012, Advanced Micro Devices, Inc., all rights reserved.
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// Third party copyrights are property of their respective owners.
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//
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// @Authors
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// Jin Ma, jin@multicorewareinc.com
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//
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// Redistribution and use in source and binary forms, with or without modification,
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// are permitted provided that the following conditions are met:
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//
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// * Redistribution's of source code must retain the above copyright notice,
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// this list of conditions and the following disclaimer.
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//
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// * Redistribution's in binary form must reproduce the above copyright notice,
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// this list of conditions and the following disclaimer in the documentation
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// and/or other oclMaterials provided with the distribution.
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//
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// * The name of the copyright holders may not be used to endorse or promote products
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// derived from this software without specific prior written permission.
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// This software is provided by the copyright holders and contributors "as is" and
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// the use of this software, even if advised of the possibility of such damage.
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//
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//M*/
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#include "test_precomp.hpp"
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#ifdef HAVE_OPENCL
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using namespace cv;
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using namespace cv::ocl;
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using namespace cvtest;
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using namespace testing;
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using namespace std;
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//////////////////////////////////////////////////////////////////////////
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PARAM_TEST_CASE(Kalman, int, int)
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{
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int size_;
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int iteration;
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virtual void SetUp()
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{
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size_ = GET_PARAM(0);
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iteration = GET_PARAM(1);
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}
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};
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TEST_P(Kalman, Accuracy)
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{
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const int Dim = size_;
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const int Steps = iteration;
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const double max_init = 1;
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const double max_noise = 0.1;
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cv::RNG &rng = TS::ptr()->get_rng();
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Mat sample_mat(Dim, 1, CV_32F), temp_mat;
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oclMat Sample(Dim, 1, CV_32F);
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oclMat Temp(Dim, 1, CV_32F);
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Mat Temp_cpu(Dim, 1, CV_32F);
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Size size(Sample.cols, Sample.rows);
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sample_mat = randomMat(rng, size, Sample.type(), -max_init, max_init, false);
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Sample.upload(sample_mat);
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//ocl start
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cv::ocl::KalmanFilter kalman_filter_ocl;
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kalman_filter_ocl.init(Dim, Dim);
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cv::ocl::setIdentity(kalman_filter_ocl.errorCovPre, 1);
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cv::ocl::setIdentity(kalman_filter_ocl.measurementMatrix, 1);
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cv::ocl::setIdentity(kalman_filter_ocl.errorCovPost, 1);
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kalman_filter_ocl.measurementNoiseCov.setTo(Scalar::all(0));
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kalman_filter_ocl.statePre.setTo(Scalar::all(0));
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kalman_filter_ocl.statePost.setTo(Scalar::all(0));
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kalman_filter_ocl.correct(Sample);
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//ocl end
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//cpu start
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cv::KalmanFilter kalman_filter_cpu;
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kalman_filter_cpu.init(Dim, Dim);
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cv::setIdentity(kalman_filter_cpu.errorCovPre, 1);
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cv::setIdentity(kalman_filter_cpu.measurementMatrix, 1);
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cv::setIdentity(kalman_filter_cpu.errorCovPost, 1);
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kalman_filter_cpu.measurementNoiseCov.setTo(Scalar::all(0));
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kalman_filter_cpu.statePre.setTo(Scalar::all(0));
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kalman_filter_cpu.statePost.setTo(Scalar::all(0));
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kalman_filter_cpu.correct(sample_mat);
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//cpu end
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//test begin
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for(int i = 0; i<Steps; i++)
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{
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kalman_filter_ocl.predict();
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kalman_filter_cpu.predict();
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cv::gemm(kalman_filter_cpu.transitionMatrix, sample_mat, 1, cv::Mat(), 0, Temp_cpu);
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Size size1(Temp.cols, Temp.rows);
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Mat temp = randomMat(rng, size1, Temp.type(), 0, 0xffff, false);
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cv::multiply(2, temp, temp);
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cv::subtract(temp, 1, temp);
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cv::multiply(max_noise, temp, temp);
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cv::add(temp, Temp_cpu, Temp_cpu);
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Temp.upload(Temp_cpu);
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Temp.copyTo(Sample);
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Temp_cpu.copyTo(sample_mat);
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kalman_filter_ocl.correct(Temp);
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kalman_filter_cpu.correct(Temp_cpu);
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}
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//test end
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EXPECT_MAT_NEAR(kalman_filter_cpu.statePost, kalman_filter_ocl.statePost, 0);
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}
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INSTANTIATE_TEST_CASE_P(OCL_Video, Kalman, Combine(Values(3, 7), Values(30)));
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#endif // HAVE_OPENCL
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