1 /*M/////////////////////////////////////////////////////////////////////////////////////// 2 // 3 // IMPORTANT: READ BEFORE DOWNLOADING, COPYING, INSTALLING OR USING. 4 // 5 // By downloading, copying, installing or using the software you agree to this license. 6 // If you do not agree to this license, do not download, install, 7 // copy or use the software. 8 // 9 // 10 // License Agreement 11 // For Open Source Computer Vision Library 12 // 13 // Copyright (C) 2000-2008, Intel Corporation, all rights reserved. 14 // Copyright (C) 2009, Willow Garage Inc., all rights reserved. 15 // Third party copyrights are property of their respective owners. 16 // 17 // Redistribution and use in source and binary forms, with or without modification, 18 // are permitted provided that the following conditions are met: 19 // 20 // * Redistribution's of source code must retain the above copyright notice, 21 // this list of conditions and the following disclaimer. 22 // 23 // * Redistribution's in binary form must reproduce the above copyright notice, 24 // this list of conditions and the following disclaimer in the documentation 25 // and/or other materials provided with the distribution. 26 // 27 // * The name of the copyright holders may not be used to endorse or promote products 28 // derived from this software without specific prior written permission. 29 // 30 // This software is provided by the copyright holders and contributors "as is" and 31 // any express or implied warranties, including, but not limited to, the implied 32 // warranties of merchantability and fitness for a particular purpose are disclaimed. 33 // In no event shall the Intel Corporation or contributors be liable for any direct, 34 // indirect, incidental, special, exemplary, or consequential damages 35 // (including, but not limited to, procurement of substitute goods or services; 36 // loss of use, data, or profits; or business interruption) however caused 37 // and on any theory of liability, whether in contract, strict liability, 38 // or tort (including negligence or otherwise) arising in any way out of 39 // the use of this software, even if advised of the possibility of such damage. 40 // 41 //M*/ 42 43 #include "test_precomp.hpp" 44 45 #ifdef HAVE_CUDA 46 47 using namespace cvtest; 48 49 namespace 50 { 51 cv::Mat createTransfomMatrix(cv::Size srcSize, double angle) 52 { 53 cv::Mat M(3, 3, CV_64FC1); 54 55 M.at<double>(0, 0) = std::cos(angle); M.at<double>(0, 1) = -std::sin(angle); M.at<double>(0, 2) = srcSize.width / 2; 56 M.at<double>(1, 0) = std::sin(angle); M.at<double>(1, 1) = std::cos(angle); M.at<double>(1, 2) = 0.0; 57 M.at<double>(2, 0) = 0.0 ; M.at<double>(2, 1) = 0.0 ; M.at<double>(2, 2) = 1.0; 58 59 return M; 60 } 61 } 62 63 /////////////////////////////////////////////////////////////////// 64 // Test buildWarpPerspectiveMaps 65 66 PARAM_TEST_CASE(BuildWarpPerspectiveMaps, cv::cuda::DeviceInfo, cv::Size, Inverse) 67 { 68 cv::cuda::DeviceInfo devInfo; 69 cv::Size size; 70 bool inverse; 71 72 virtual void SetUp() 73 { 74 devInfo = GET_PARAM(0); 75 size = GET_PARAM(1); 76 inverse = GET_PARAM(2); 77 78 cv::cuda::setDevice(devInfo.deviceID()); 79 } 80 }; 81 82 CUDA_TEST_P(BuildWarpPerspectiveMaps, Accuracy) 83 { 84 cv::Mat M = createTransfomMatrix(size, CV_PI / 4); 85 86 cv::cuda::GpuMat xmap, ymap; 87 cv::cuda::buildWarpPerspectiveMaps(M, inverse, size, xmap, ymap); 88 89 cv::Mat src = randomMat(randomSize(200, 400), CV_8UC1); 90 int interpolation = cv::INTER_NEAREST; 91 int borderMode = cv::BORDER_CONSTANT; 92 int flags = interpolation; 93 if (inverse) 94 flags |= cv::WARP_INVERSE_MAP; 95 96 cv::Mat dst; 97 cv::remap(src, dst, cv::Mat(xmap), cv::Mat(ymap), interpolation, borderMode); 98 99 cv::Mat dst_gold; 100 cv::warpPerspective(src, dst_gold, M, size, flags, borderMode); 101 102 EXPECT_MAT_NEAR(dst_gold, dst, 0.0); 103 } 104 105 INSTANTIATE_TEST_CASE_P(CUDA_Warping, BuildWarpPerspectiveMaps, testing::Combine( 106 ALL_DEVICES, 107 DIFFERENT_SIZES, 108 DIRECT_INVERSE)); 109 110 /////////////////////////////////////////////////////////////////// 111 // Gold implementation 112 113 namespace 114 { 115 template <typename T, template <typename> class Interpolator> void warpPerspectiveImpl(const cv::Mat& src, const cv::Mat& M, cv::Size dsize, cv::Mat& dst, int borderType, cv::Scalar borderVal) 116 { 117 const int cn = src.channels(); 118 119 dst.create(dsize, src.type()); 120 121 for (int y = 0; y < dsize.height; ++y) 122 { 123 for (int x = 0; x < dsize.width; ++x) 124 { 125 float coeff = static_cast<float>(M.at<double>(2, 0) * x + M.at<double>(2, 1) * y + M.at<double>(2, 2)); 126 127 float xcoo = static_cast<float>((M.at<double>(0, 0) * x + M.at<double>(0, 1) * y + M.at<double>(0, 2)) / coeff); 128 float ycoo = static_cast<float>((M.at<double>(1, 0) * x + M.at<double>(1, 1) * y + M.at<double>(1, 2)) / coeff); 129 130 for (int c = 0; c < cn; ++c) 131 dst.at<T>(y, x * cn + c) = Interpolator<T>::getValue(src, ycoo, xcoo, c, borderType, borderVal); 132 } 133 } 134 } 135 136 void warpPerspectiveGold(const cv::Mat& src, const cv::Mat& M, bool inverse, cv::Size dsize, cv::Mat& dst, int interpolation, int borderType, cv::Scalar borderVal) 137 { 138 typedef void (*func_t)(const cv::Mat& src, const cv::Mat& M, cv::Size dsize, cv::Mat& dst, int borderType, cv::Scalar borderVal); 139 140 static const func_t nearest_funcs[] = 141 { 142 warpPerspectiveImpl<unsigned char, NearestInterpolator>, 143 warpPerspectiveImpl<signed char, NearestInterpolator>, 144 warpPerspectiveImpl<unsigned short, NearestInterpolator>, 145 warpPerspectiveImpl<short, NearestInterpolator>, 146 warpPerspectiveImpl<int, NearestInterpolator>, 147 warpPerspectiveImpl<float, NearestInterpolator> 148 }; 149 150 static const func_t linear_funcs[] = 151 { 152 warpPerspectiveImpl<unsigned char, LinearInterpolator>, 153 warpPerspectiveImpl<signed char, LinearInterpolator>, 154 warpPerspectiveImpl<unsigned short, LinearInterpolator>, 155 warpPerspectiveImpl<short, LinearInterpolator>, 156 warpPerspectiveImpl<int, LinearInterpolator>, 157 warpPerspectiveImpl<float, LinearInterpolator> 158 }; 159 160 static const func_t cubic_funcs[] = 161 { 162 warpPerspectiveImpl<unsigned char, CubicInterpolator>, 163 warpPerspectiveImpl<signed char, CubicInterpolator>, 164 warpPerspectiveImpl<unsigned short, CubicInterpolator>, 165 warpPerspectiveImpl<short, CubicInterpolator>, 166 warpPerspectiveImpl<int, CubicInterpolator>, 167 warpPerspectiveImpl<float, CubicInterpolator> 168 }; 169 170 static const func_t* funcs[] = {nearest_funcs, linear_funcs, cubic_funcs}; 171 172 if (inverse) 173 funcs[interpolation][src.depth()](src, M, dsize, dst, borderType, borderVal); 174 else 175 { 176 cv::Mat iM; 177 cv::invert(M, iM); 178 funcs[interpolation][src.depth()](src, iM, dsize, dst, borderType, borderVal); 179 } 180 } 181 } 182 183 /////////////////////////////////////////////////////////////////// 184 // Test 185 186 PARAM_TEST_CASE(WarpPerspective, cv::cuda::DeviceInfo, cv::Size, MatType, Inverse, Interpolation, BorderType, UseRoi) 187 { 188 cv::cuda::DeviceInfo devInfo; 189 cv::Size size; 190 int type; 191 bool inverse; 192 int interpolation; 193 int borderType; 194 bool useRoi; 195 196 virtual void SetUp() 197 { 198 devInfo = GET_PARAM(0); 199 size = GET_PARAM(1); 200 type = GET_PARAM(2); 201 inverse = GET_PARAM(3); 202 interpolation = GET_PARAM(4); 203 borderType = GET_PARAM(5); 204 useRoi = GET_PARAM(6); 205 206 cv::cuda::setDevice(devInfo.deviceID()); 207 } 208 }; 209 210 CUDA_TEST_P(WarpPerspective, Accuracy) 211 { 212 cv::Mat src = randomMat(size, type); 213 cv::Mat M = createTransfomMatrix(size, CV_PI / 3); 214 int flags = interpolation; 215 if (inverse) 216 flags |= cv::WARP_INVERSE_MAP; 217 cv::Scalar val = randomScalar(0.0, 255.0); 218 219 cv::cuda::GpuMat dst = createMat(size, type, useRoi); 220 cv::cuda::warpPerspective(loadMat(src, useRoi), dst, M, size, flags, borderType, val); 221 222 cv::Mat dst_gold; 223 warpPerspectiveGold(src, M, inverse, size, dst_gold, interpolation, borderType, val); 224 225 EXPECT_MAT_NEAR(dst_gold, dst, src.depth() == CV_32F ? 1e-1 : 1.0); 226 } 227 228 INSTANTIATE_TEST_CASE_P(CUDA_Warping, WarpPerspective, testing::Combine( 229 ALL_DEVICES, 230 DIFFERENT_SIZES, 231 testing::Values(MatType(CV_8UC1), MatType(CV_8UC3), MatType(CV_8UC4), MatType(CV_16UC1), MatType(CV_16UC3), MatType(CV_16UC4), MatType(CV_32FC1), MatType(CV_32FC3), MatType(CV_32FC4)), 232 DIRECT_INVERSE, 233 testing::Values(Interpolation(cv::INTER_NEAREST), Interpolation(cv::INTER_LINEAR), Interpolation(cv::INTER_CUBIC)), 234 testing::Values(BorderType(cv::BORDER_REFLECT101), BorderType(cv::BORDER_REPLICATE), BorderType(cv::BORDER_REFLECT), BorderType(cv::BORDER_WRAP)), 235 WHOLE_SUBMAT)); 236 237 /////////////////////////////////////////////////////////////////// 238 // Test NPP 239 240 PARAM_TEST_CASE(WarpPerspectiveNPP, cv::cuda::DeviceInfo, MatType, Inverse, Interpolation) 241 { 242 cv::cuda::DeviceInfo devInfo; 243 int type; 244 bool inverse; 245 int interpolation; 246 247 virtual void SetUp() 248 { 249 devInfo = GET_PARAM(0); 250 type = GET_PARAM(1); 251 inverse = GET_PARAM(2); 252 interpolation = GET_PARAM(3); 253 254 cv::cuda::setDevice(devInfo.deviceID()); 255 } 256 }; 257 258 CUDA_TEST_P(WarpPerspectiveNPP, Accuracy) 259 { 260 cv::Mat src = readImageType("stereobp/aloe-L.png", type); 261 ASSERT_FALSE(src.empty()); 262 263 cv::Mat M = createTransfomMatrix(src.size(), CV_PI / 4); 264 int flags = interpolation; 265 if (inverse) 266 flags |= cv::WARP_INVERSE_MAP; 267 268 cv::cuda::GpuMat dst; 269 cv::cuda::warpPerspective(loadMat(src), dst, M, src.size(), flags); 270 271 cv::Mat dst_gold; 272 warpPerspectiveGold(src, M, inverse, src.size(), dst_gold, interpolation, cv::BORDER_CONSTANT, cv::Scalar::all(0)); 273 274 EXPECT_MAT_SIMILAR(dst_gold, dst, 2e-2); 275 } 276 277 INSTANTIATE_TEST_CASE_P(CUDA_Warping, WarpPerspectiveNPP, testing::Combine( 278 ALL_DEVICES, 279 testing::Values(MatType(CV_8UC1), MatType(CV_8UC3), MatType(CV_8UC4), MatType(CV_32FC1), MatType(CV_32FC3), MatType(CV_32FC4)), 280 DIRECT_INVERSE, 281 testing::Values(Interpolation(cv::INTER_NEAREST), Interpolation(cv::INTER_LINEAR), Interpolation(cv::INTER_CUBIC)))); 282 283 #endif // HAVE_CUDA 284