Autonomous Space Robotics Lab: gpusurf: gpu_area

00001 /*
00002 Copyright (c) 2010, Paul Furgale and Chi Hay Tong
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without 
00006 modification, are permitted provided that the following conditions are 
00007 met:
00008 
00009 * Redistributions of source code must retain the above copyright notice, 
00010   this list of conditions and the following disclaimer.
00011 * Redistributions in binary form must reproduce the above copyright 
00012   notice, this list of conditions and the following disclaimer in the 
00013   documentation and/or other materials provided with the distribution.
00014 * The names of its contributors may not be used to endorse or promote 
00015   products derived from this software without specific prior written 
00016   permission.
00017 
00018 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 
00019 "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
00020 TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A 
00021 PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER
00022 OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, 
00023 EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 
00024 PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR 
00025 PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF 
00026 LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING 
00027 NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS 
00028 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00029 */
00030 
00031 #ifndef ASRL_GPU_AREA_TESTS_HPP
00032 #define ASRL_GPU_AREA_TESTS_HPP
00033 
00034 #include "GpuIntegralImageProcessor.hpp"
00035 #include "gpu_area.h"
00036 #include <opencv/highgui.h>
00037 #include <opencv/highgui.hpp>
00038 
00040 BOOST_AUTO_TEST_SUITE(asrl_area)
00041 
00042 BOOST_AUTO_TEST_CASE(test_area_lookup) 
00043 {
00044   // create an image and fill it with zeros.
00045   cv::Mat image = cv::Mat::zeros(64,64,CV_8UC1);
00046 
00047   // Now fill in a 3x5 block.
00048   int cx = 30;
00049   int cy = 30;
00050   
00051   for(int r = -1; r < 2; r++)
00052     {
00053       for(int c = -2; c < 3; c++)
00054         {
00055           // When 255 is converted to a float, it will be 1.f.
00056           image.ptr(cy + r)[cx + c] = 255;
00057         }
00058     }
00059 
00060   // Create an integral image.
00061   asrl::GpuIntegralImageProcessor iiProc(image.cols, image.rows);
00062   asrl::GpuIntegralImage iimageI(image.cols, image.rows);
00063 
00064   iiProc.process(image, iimageI);
00065   cudaArray * iimage = iimageI.d_get();
00066 
00067   float area = asrl::iiAreaLookupC(iimage, (float)cx, (float)cy, 5.f, 3.f);
00068   BOOST_CHECK_CLOSE(area, 15.f,0.001f);
00069 
00070   area = asrl::iiAreaLookupC(iimage, (float)cx-0.5f, (float)cy, 5.f, 3.f);
00071   BOOST_CHECK_CLOSE(area, 13.5f,0.001f);
00072 
00073   area = asrl::iiAreaLookupC(iimage, (float)cx-1, (float)cy, 5.f, 3.f);
00074   BOOST_CHECK_CLOSE(area, 12.f,0.001f);
00075 
00076   area = asrl::iiAreaLookupC(iimage, (float)cx-0.5f, (float)cy, 5.f, 3.f);
00077   BOOST_CHECK_CLOSE(area, 13.5f,0.001f);
00078 
00079   area = asrl::iiAreaLookupC(iimage, (float)cx+1, (float)cy, 5.f, 3.f);
00080   BOOST_CHECK_CLOSE(area, 12.f,0.001f);
00081 
00082   area = asrl::iiAreaLookupC(iimage, (float)cx, (float)cy-1, 5.f, 3.f);
00083   BOOST_CHECK_CLOSE(area, 10.f,0.001f);
00084 
00085   area = asrl::iiAreaLookupC(iimage, (float)cx, (float)cy-0.5f, 5.f, 3.f);
00086   BOOST_CHECK_CLOSE(area, 12.5f,0.001f);
00087 
00088   area = asrl::iiAreaLookupC(iimage, (float)cx, (float)cy+1, 5.f, 3.f);
00089   BOOST_CHECK_CLOSE(area, 10.f,0.001f);
00090 
00091   area = asrl::iiAreaLookupC(iimage, (float)cx, (float)cy+0.5f, 5.f, 3.f);
00092   BOOST_CHECK_CLOSE(area, 12.5f,0.001f);
00093 
00094   area = asrl::iiAreaLookupC(iimage, (float)cx-1, (float)cy-1, 5.f, 3.f);
00095   BOOST_CHECK_CLOSE(area, 8.f,0.001f);
00096 
00097   area = asrl::iiAreaLookupC(iimage, (float)cx-0.5f, (float)cy-0.5f, 5.f, 3.f);
00098   BOOST_CHECK_CLOSE(area, 11.25f,0.001f);
00099 
00100   area = asrl::iiAreaLookupC(iimage, (float)cx+1, (float)cy+1, 5.f, 3.f);
00101   BOOST_CHECK_CLOSE(area, 8.f,0.001f);
00102 
00103   area = asrl::iiAreaLookupC(iimage, (float)cx+0.5f, (float)cy+0.5f, 5.f, 3.f);
00104   BOOST_CHECK_CLOSE(area, 11.25f,0.001f);
00105 
00106   area = asrl::iiAreaLookupC(iimage, (float)cx-1, (float)cy+1, 5.f, 3.f);
00107   BOOST_CHECK_CLOSE(area, 8.f,0.001f);
00108 
00109   area = asrl::iiAreaLookupC(iimage, (float)cx+1, (float)cy-1, 5.f, 3.f);
00110   BOOST_CHECK_CLOSE(area, 8.f,0.001f);
00111 
00112   area = asrl::iiAreaLookupC(iimage, (float)cx-0.5f, (float)cy+0.5f, 5.f, 3.f);
00113   BOOST_CHECK_CLOSE(area, 11.25f,0.001f);
00114 
00115   area = asrl::iiAreaLookupC(iimage, (float)cx+0.5f, (float)cy-0.5f, 5.f, 3.f);
00116   BOOST_CHECK_CLOSE(area, 11.25f,0.001f);
00117 
00118   area = asrl::iiAreaLookupC(iimage, (float)cx-1, (float)cy+1, 5.f, 3.f);
00119   BOOST_CHECK_CLOSE(area, 8.f,0.001f);
00120 
00121   area = asrl::iiAreaLookupC(iimage, (float)cx, (float)cy, 3.f, 3.f);
00122   BOOST_CHECK_CLOSE(area, 9.f,0.001f);
00123 
00124   area = asrl::iiAreaLookupC(iimage, (float)cx, (float)cy, 3.f, 4.5f);
00125   BOOST_CHECK_CLOSE(area, 9.f,0.001f);
00126 
00127   area = asrl::iiAreaLookupC(iimage, (float)cx, (float)cy, 4.5f, 3.f);
00128   BOOST_CHECK_CLOSE(area, 13.5f,0.001f);
00129 }
00130 
00131 
00132 BOOST_AUTO_TEST_SUITE_END()
00133 
00134 #endif // ASRL_GPU_AREA_TESTS_HPP
Autonomous Space Robotics Lab

Speeded Up SURF

gpu_area_tests.hpp
