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 #if defined HAVE_CUDA && defined HAVE_OPENCV_CALIB3D 46 47 #include "opencv2/calib3d.hpp" 48 49 using namespace cvtest; 50 51 /////////////////////////////////////////////////////////////////////////////////////////////////////// 52 // transformPoints 53 54 struct TransformPoints : testing::TestWithParam<cv::cuda::DeviceInfo> 55 { 56 cv::cuda::DeviceInfo devInfo; 57 58 virtual void SetUp() 59 { 60 devInfo = GetParam(); 61 62 cv::cuda::setDevice(devInfo.deviceID()); 63 } 64 }; 65 66 CUDA_TEST_P(TransformPoints, Accuracy) 67 { 68 cv::Mat src = randomMat(cv::Size(1000, 1), CV_32FC3, 0, 10); 69 cv::Mat rvec = randomMat(cv::Size(3, 1), CV_32F, 0, 1); 70 cv::Mat tvec = randomMat(cv::Size(3, 1), CV_32F, 0, 1); 71 72 cv::cuda::GpuMat dst; 73 cv::cuda::transformPoints(loadMat(src), rvec, tvec, dst); 74 75 ASSERT_EQ(src.size(), dst.size()); 76 ASSERT_EQ(src.type(), dst.type()); 77 78 cv::Mat h_dst(dst); 79 80 cv::Mat rot; 81 cv::Rodrigues(rvec, rot); 82 83 for (int i = 0; i < h_dst.cols; ++i) 84 { 85 cv::Point3f res = h_dst.at<cv::Point3f>(0, i); 86 87 cv::Point3f p = src.at<cv::Point3f>(0, i); 88 cv::Point3f res_gold( 89 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), 90 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), 91 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)); 92 93 ASSERT_POINT3_NEAR(res_gold, res, 1e-5); 94 } 95 } 96 97 INSTANTIATE_TEST_CASE_P(CUDA_Calib3D, TransformPoints, ALL_DEVICES); 98 99 /////////////////////////////////////////////////////////////////////////////////////////////////////// 100 // ProjectPoints 101 102 struct ProjectPoints : testing::TestWithParam<cv::cuda::DeviceInfo> 103 { 104 cv::cuda::DeviceInfo devInfo; 105 106 virtual void SetUp() 107 { 108 devInfo = GetParam(); 109 110 cv::cuda::setDevice(devInfo.deviceID()); 111 } 112 }; 113 114 CUDA_TEST_P(ProjectPoints, Accuracy) 115 { 116 cv::Mat src = randomMat(cv::Size(1000, 1), CV_32FC3, 0, 10); 117 cv::Mat rvec = randomMat(cv::Size(3, 1), CV_32F, 0, 1); 118 cv::Mat tvec = randomMat(cv::Size(3, 1), CV_32F, 0, 1); 119 cv::Mat camera_mat = randomMat(cv::Size(3, 3), CV_32F, 0.5, 1); 120 camera_mat.at<float>(0, 1) = 0.f; 121 camera_mat.at<float>(1, 0) = 0.f; 122 camera_mat.at<float>(2, 0) = 0.f; 123 camera_mat.at<float>(2, 1) = 0.f; 124 125 cv::cuda::GpuMat dst; 126 cv::cuda::projectPoints(loadMat(src), rvec, tvec, camera_mat, cv::Mat(), dst); 127 128 ASSERT_EQ(1, dst.rows); 129 ASSERT_EQ(MatType(CV_32FC2), MatType(dst.type())); 130 131 std::vector<cv::Point2f> dst_gold; 132 cv::projectPoints(src, rvec, tvec, camera_mat, cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)), dst_gold); 133 134 ASSERT_EQ(dst_gold.size(), static_cast<size_t>(dst.cols)); 135 136 cv::Mat h_dst(dst); 137 138 for (size_t i = 0; i < dst_gold.size(); ++i) 139 { 140 cv::Point2f res = h_dst.at<cv::Point2f>(0, (int)i); 141 cv::Point2f res_gold = dst_gold[i]; 142 143 ASSERT_LE(cv::norm(res_gold - res) / cv::norm(res_gold), 1e-3f); 144 } 145 } 146 147 INSTANTIATE_TEST_CASE_P(CUDA_Calib3D, ProjectPoints, ALL_DEVICES); 148 149 /////////////////////////////////////////////////////////////////////////////////////////////////////// 150 // SolvePnPRansac 151 152 struct SolvePnPRansac : testing::TestWithParam<cv::cuda::DeviceInfo> 153 { 154 cv::cuda::DeviceInfo devInfo; 155 156 virtual void SetUp() 157 { 158 devInfo = GetParam(); 159 160 cv::cuda::setDevice(devInfo.deviceID()); 161 } 162 }; 163 164 CUDA_TEST_P(SolvePnPRansac, Accuracy) 165 { 166 cv::Mat object = randomMat(cv::Size(5000, 1), CV_32FC3, 0, 100); 167 cv::Mat camera_mat = randomMat(cv::Size(3, 3), CV_32F, 0.5, 1); 168 camera_mat.at<float>(0, 1) = 0.f; 169 camera_mat.at<float>(1, 0) = 0.f; 170 camera_mat.at<float>(2, 0) = 0.f; 171 camera_mat.at<float>(2, 1) = 0.f; 172 173 std::vector<cv::Point2f> image_vec; 174 cv::Mat rvec_gold; 175 cv::Mat tvec_gold; 176 rvec_gold = randomMat(cv::Size(3, 1), CV_32F, 0, 1); 177 tvec_gold = randomMat(cv::Size(3, 1), CV_32F, 0, 1); 178 cv::projectPoints(object, rvec_gold, tvec_gold, camera_mat, cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)), image_vec); 179 180 cv::Mat rvec, tvec; 181 std::vector<int> inliers; 182 cv::cuda::solvePnPRansac(object, cv::Mat(1, (int)image_vec.size(), CV_32FC2, &image_vec[0]), 183 camera_mat, cv::Mat(1, 8, CV_32F, cv::Scalar::all(0)), 184 rvec, tvec, false, 200, 2.f, 100, &inliers); 185 186 ASSERT_LE(cv::norm(rvec - rvec_gold), 1e-3); 187 ASSERT_LE(cv::norm(tvec - tvec_gold), 1e-3); 188 } 189 190 INSTANTIATE_TEST_CASE_P(CUDA_Calib3D, SolvePnPRansac, ALL_DEVICES); 191 192 #endif // HAVE_CUDA 193
