Autonomous Space Robotics Lab Speeded Up SURF fasthessian_tests.hpp Go to the documentation of this file. /* Copyright (c) 2010, Paul Furgale and Chi Hay Tong All rights reserved. Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met: * Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer. * Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution. * The names of its contributors may not be used to endorse or promote products derived from this software without specific prior written permission. THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. */ #include "fasthessian.h" #ifndef ASRL_FASTHESSIAN_TEST_HPP #define ASRL_FASTHESSIAN_TEST_HPP #include "GpuSurfOctave.hpp" #include "fasthessian.h" #include "GpuSurfDetectorInternal.hpp" #include <opencv/highgui.h> #include <opencv/highgui.hpp> #include "gpu_area.h" BOOST_AUTO_TEST_SUITE(asrl_fasthessian) BOOST_AUTO_TEST_CASE(test_fasthessian) { // Check that the fast hessian is deterministic. // Load an image cv::Mat img = cv::imread("../testdata/seq-lt-g-000001.pgm",CV_LOAD_IMAGE_GRAYSCALE); asrl::GpuSurfConfiguration config; asrl::GpuSurfDetectorInternal detector1(config); detector1.buildIntegralImage(img); detector1.detectKeypoints(); asrl::GpuSurfDetectorInternal detector2(config); detector2.buildIntegralImage(img); detector2.detectKeypoints(); for(unsigned i = 0 ; i < detector1.m_config.nOctaves; i++) { asrl::GpuSurfOctave & o1 = detector1.m_octaves[i]; asrl::GpuSurfOctave & o2 = detector2.m_octaves[i]; o1.pullHessianFromDevice(); o2.pullHessianFromDevice(); size_t hSize = o1.width() * o1.height() * o1.intervals(); std::cout << "Checking the " << hSize << " elements of octave " << i << std::endl; BOOST_CHECK_EQUAL_COLLECTIONS( o1.h_hessian(), o1.h_hessian() + hSize, o2.h_hessian(), o2.h_hessian() + hSize ); } } BOOST_AUTO_TEST_CASE(test_area_calculation) { // Load an image cv::Mat img = cv::Mat::ones(64,64,CV_8UC1) * 126; asrl::GpuSurfConfiguration config; asrl::GpuSurfDetectorInternal detector1(config); detector1.buildIntegralImage(img); detector1.detectKeypoints(); asrl::texturize_integral_image(detector1.m_intImg->d_get()); try { for(int component = 0; component < 7; component++) { asrl::eval_component( detector1.m_octaves, detector1.m_config.nOctaves, (asrl::fh_component)component); std::string cname = "not set"; if(component == 0) cname = "Dxx"; else if(component == 1) cname = "Dyy"; else if(component == 2) cname = "Dxx * Dyy"; else if(component == 3) cname = "Dxy"; else if(component == 4) cname = "censure"; else if(component == 5) cname = "result"; else if(component == 6) cname = "result---last bit set"; else ASRL_THROW("Unknown component: " << component); //for(unsigned o = 0 ; o < detector1.m_octaves.size(); o++) unsigned o = 0; { asrl::GpuSurfOctave & o1 = detector1.m_octaves[o]; o1.pullHessianFromDevice(); size_t hSize = o1.width() * o1.height() * o1.intervals(); for(int r = 1; r < o1.height() - 1; r++) { for(int c = 1; c < o1.width() -1 ; c++) { for(int i = 0; i < o1.intervals(); i++) { try { ASRL_ASSERT_LT(fabs(o1(r,c,i)),0.01,"FH entry " << cname << "[" << component << "]" << " at (" << o << "," << i << "," << r << "," << c << ") is too big"); } catch(std::exception const & e) { BOOST_ERROR(e.what()); } } } } } } } catch(std::exception const & e) { BOOST_ERROR(e.what()); } asrl::fh_untexturizeIntegral(); } BOOST_AUTO_TEST_SUITE_END() #endif // ASRL_FASTHESSIAN_TEST_HPP